As the summer holidays begin, Daniel Start, author of the new Wild Guide to the Lakes and Dales, selects his favourite wild adventures for families in the Yorkshire Dales and surrounds – from waterfall swimming to ancient caves, lost ruins to woods for den building

Janet’s Foss, Gordale Scar

This beautiful crystal-clear plunge pool is set in a wooded glen beneath a spectacular waterfall. It’s the perfect spot for families wanting to cool off. The cave up to the right is allegedly the home of Jennet, a fairy queen. The amazing Gordale Scar is just upstream.

From Malham village, head east towards Gordale Scar (BD23 4DL). Take the path on the right about 300m before the campsite. 54.0657, -2.1365

Victoria Cave

Victoria Cave forms the largest cave entrance in Yorkshire and is one of the best of a series of wild caves in the Langcliffe Scar. Discovered by chance in 1837 (the year of Queen Victoria’s coronation) remains included bones of 130,000-year-old hippos, narrow-nosed rhino and elephants. Jubilee and Attermire caves are also close by, where the remains of a Roman chariot were found.

Take the Malham lane east from Langcliffe. After ½ mile, at a left corner on the hill, find a track on the right and continue ¾ mile to find the cave on the right under the cliff wall. 54.0810, -2.2487

Druid’s Temple, Ilton

At first glance this looks like a mini stonehenge, with a huge ring of stones and megaliths with an altar. However, the structure on the moor was actually commissioned by William Danby of Swinton Hall in 1820, as a make-work scheme for locals in hard times. Nearby is Swinton Bivouac where there’s a woodland café and you can rent rustic cabins to sleep in.

A mile north of Ilton turn left, and continue past HG4 4JZ to the road end. There is a car park and short footpath. 54.2037, -1.7347

Yordas Cave & Jingling Pot

Formerly a Victorian show cave, this is one of the best places in the Dales to experience a wild cavern. The low entrance is found among trees just off the lane. It leads straight into a massive chamber, as a high as a church, with a small river flowing towards the back, and a waterfall in an adjacent chamber. Those who are interested can continue up and along the hillside to find the deep sinkhole abyss of Jingling and Rowten Pots – though these are definitely not safe to explore.

From Thornton in Lonsdale take the Dent road. ½ mile before LA6 3PH find a gate on the left and a cluster of trees 50m up the hillside. The cave entrance is among the trees. Bring wellies and a torch. 54.2069, -2.4534

Hackfall Wood Follies

Many amazing follies populate this enchanting woodland. They were built by the Aislabies who developed the gardens at Studley and Fountains Abbey. The buildings include the Mowbray Castle ruin on the cliff edge, Fisher’s Hall on the banks of the river. There’s also the Rustic Temple and a gravity-fed fountain and pond. Grewelthorpe Village Hall Community Café opens for lunches in season.

Take the Masham road north out of Grewelthorpe. ½ mile past HG4 3DE, find the car park on the right. Muddy paths. Allow an hour to explore. 54.1882, -1.6406

Stainforth Force, Ribblesdale

Older children will love this spectacular series of river pools and waterfalls beneath an old packhorse bridge. A large waterfall with a deep cauldron is very popular for those who like to jump, or leap from the rope swing. Further on are several idyllic deep pools and grassy banks lead down to many shallow section good for paddling. Take great care if you jump, and avoid the river after heavy rainfall.

Park in Stainforth (B6479) then carry on up main road 200m on foot. Turn left down Dog Hill Browto the bridge (where there’s some limited parking in the off season). 54.0997, -2.2791

Grass Wood, Grassington

One of the Dales’ best ancient woodlands with plenty of trees to climb and lots of opportunity to make dens. Woodland flowers abound in spring, and there’s rugged limestone terrain around Dewbottom Scar. There’s an excellent riverside stretch along the Wharfe, in the southern section of wood, with a sandy beach.

1¼ miles north of Grassington. Take the right footpath for Dewbottom Scar and the main woods, or the left footpath down to the river. 54.0850, -2.0242

Brough Castle, Church Brough

This low-key ruin has lots of atmosphere and plenty to explore. It has an impressive square keep and circular tower, raised up on a small hillock against a backdrop of the Cumbrian Hills. It guarded the Stainmore Pass, a key Pennine route, during the wars with Scotland. Fires in 1521 and again in 1666 led to its ruin. There’s a café next door, with a play area and ice cream made on the family-run farm.

From the A66, take the A685 south for 200m direction Free to enter. CA17 4EJ. 017683 41219 for ice cream parlour. 54.5218, -2.3236

Esthwaite Water, Near Sawrey

People flock to Windermere for sailing, canoeing and swimming, but far fewer know about the small, serene lakes just to the west. Esthwaite is the best – it warms up nicely and has a long silver gravel beach which gently shelves into crystal clear water. There’s easy access from the lane-side car park, and a pleasant tea room, Beatrix Potter gallery and row boats to hire.

Two miles south of Hawkshead in the direction of Grizedale/Newby Bridge, past LA22 0QF. 54.3500, -2.9833.

Cathedral Cavern, Langdale

Nothing really prepares you for the feeling of wonder and awe when you first experience this cavern, yet it is just one of many extraordinary slate mine caverns in Cumbria, cut by hand hundreds of years ago. Hats off to the National Trust, who allow open access.

Best approached from the Three Shires Inn, Little Langdale (LA22 9NZ, 015394 37215), and the footpath via Slater’s Bridge. About a 25 minute walk. 54.4157, -3.0586.

The new Wild Guide to the Lake District and Yorkshire Dales by Daniel Start (£15.99, Wild Things Publishing) contains over 800 wild and hidden places to explore, plus the best local food. W: wildthingspublishing.com