Loftus, the start of our six-mile walk, is of Scandinavian origin - it means a house with a loft or upper floor, a rarity in Viking times.

It is mentioned in Domesday and was a manor in medieval times, but real growth came with mining, first for alum in the seventeenth century and then for iron ore from 1848 until the 1960s.

Besides seeing remains of this industry, we shall also climb to the top of Boulby cliffs, one of the most spectacular sections of Yorkshire's Heritage Coast.

The walk starts from the North Street car park, accessible from opposite the imposing Golden Lion in the High Street.

Turn right when you return to the High Street and follow it for some 200 yards past the equally imposing Oddfellows Hall before turning right into Westfield Terrace.

Leave the attractive Coronation Park on the right and turn left into Coronation Road, which is followed for a quarter of a mile past the fire station.

At the end go right past the Mars Inn and the leisure centre, beyond which you leave urban Loftus to follow a broad, paved path aptly called Deepdale, which descends gradually through newly-planted woodland giving views down towards Skinningrove.

Only two generations ago all this area was a scene of intense industrial activity, being the site of Loftus Mine, the third largest in Cleveland.

Today the mine is the Tom Leonard Mining Museum, reached by steps on the left about a quarter of a mile past the leisure centre. It is well worth a visit in order to understand the impact made by ironstone mining on the area.

Our route descends to reach Skinningrove village, which consists mainly of rows of ironworkers' houses packed tightly into the narrow valley of the Kilton Beck. Its name refers to tanning, an earlier industry.

Keep to the side of the iron-stained beck to the first bridge. Instead of crossing it, go half right up steps on a signed path which climbs steeply for 200 yards to a tarred road.

Cross straight over and climb a short distance on the Miners' Way to join the Cleveland Way at the edge of the cliff.

The views northwards are spectacular. The sandy beach is Cattersty Sands, broken by the curve of the jetty which was built in 1886 so that the four ships owned by the Skinningrove Iron Company could take away the pig iron and wrought iron goods which were produced from locally mined ironstone in the ironworks on the hill above.

There is still a steelworks on the hilltop, but it now rolls steel which is made elsewhere,

Our path is now a gradual ascent of nearly two miles to Boulby cliffs, which have the highest sea cliff in the country at 660ft.

The route is easy to follow and well signposted. At one point, within the National Trust property at Hummersea, it leaves the cliff edge to join the access road to Warren House.

Shortly after, the summit plateau is reached together with the amazing sight of the Loftus and Boulby alum quarries, up to 200ft deep and nearly two miles long, between the path and the cliff edge.

Here, from 1656 to 1863, vast quantities of shale were laboriously processed to produce alum, used for fixing dyes as well as in the tanning and various other industries.

The area remains a wasteland as little vegetation has been re-established in the 140 years since the quarries closed.

Shortly after reaching the plateau you can return to Loftus, right, by a path - the Miners' Way - which shortens the route by a mile.

However, having expended the energy to reach the top, your decision to continue will be rewarded.

Follow the path for well over a mile to an excellent explanatory panel which gives details of the alum industry and describes the functions of the buildings which lie in the quarry below the path.

Just beyond the panel a superb view opens up of the coast to the south. Just over two miles away are the houses of Staithes and beyond them are the outlines of the cliffs at Port Mulgrave and Runswick Bay.

If you are tempted to make your walk linear and continue ahead downhill all the way to Staithes or further, then it is easy to return to Loftus by the Arriva service bus 65 which operates hourly on weekdays and Sunday afternoons. It would be wise to check the times before leaving Loftus.

If Staithes is your destination then you should allow about half an hour to climb the bank out of the village to the main road where the bus stops. In Runswick Bay, the buses stop at the bank top.

To complete our circular walk, turn right just beyond the panel to a British Telecom beacon about 300 yards away. You will pass a Bronze Age tumulus as well as a trig point on the left on this stretch.

Go right at the beacon on a quiet road which leads in half a mile to the hamlet of Upton, originally built for alum workers.

Just past the ruined Primitive Methodist chapel of 1872, turn left, rejoining the Miners' Way. The path is well signposted, a small wood with an attractive pond being one feature en route.

A series of stiles takes you around Foulsyke Farm to the A174. Go right here and in 100 yards right again into Swalwell Wood along the edge of Loftus Beck.

You enter Loftus at Micklow Terrace and continue along East Crescent before climbing the short hill into the town centre.

Walk Facts

Distance: The full walk is six miles and the short cut along the Miners' Way reduces the distance by about a mile. If you continue to Staithes, then the walk from Loftus will be just over six miles. Runswick Bay is about another three miles beyond Staithes.

Time: Allow four hours for the full circular walk and three and a half for the short cut. You should allow four and a half hours for the Loftus to Staithes walk.

Grade of walk: Medium. It is a long pull up from Skinningrove to Boulby Head, but the gradient is easy.

Conditions: There are many field stiles, mainly on the return section between Boulby Head and Loftus.

Refreshments: There are a number of cafes and public houses in both Loftus and Staithes