We stayed in a small CL near Pickering and there are loads of sites. Although we did not stay there, we drove through Hutton Le Hole which looked like a lovely village. There were two campsites and the link is below.
We drove through because OH can't walk too far and the site owner where we stayed recommended the drive through the moors via this village. Stunning drive, so bet walking is great too.
Sutton Bank is also a beautiful place. Wherever you stay will be lovely such a wonderful area.
Pickering nearby, has a steam train to Whitby and the buses in the area are good. I think there is a moors bus that you can use as a hop on and off for a daily charge.
Just do a search on this site for the area and loads come up.
All the North York Moors national park is good for walking and there are many different circular walks possible, though most will involve a short drive to a (usually free) car park. I go there nearly every week walking. Once you find a suitable campsite if you want some ideas for good walks, post back here with distance /difficulty preferences and types of walk you prefer, eg coastal/moorland/valley/historic/etc.
Goathland is a good base with a couple of campsites.
BEWARE HEARTBEAT NUTS.
There's a 'Rail Trail' along the original rail route to Grosmont. Catch the train, North York Moors Railway steam & diesel, back. You can use the train to get to walk starts & finishes. You can get to Wade's Road the Roman Road from Malton to the coast. The Lyke Wake route passes nearby. And Goathland is where the 'Crosses Walk' started & finished. The Crosses was a 24 hour/53mile challenge/fundraiser for the rescue teams. I was a checkpoint assistant on Lilla Howe checkpoint a few times. While you can get to Lilla Howe it's arduous. And the local war memorial cross is a good copy of Lilla Cross!. There's some nice walks from the village centre too. Don't forget your camera; and don't feed the sheep!. They're becoming lunch pack muggers, every house has a 'cattle grid' at the garden gate!.
Goathland is a good base with a couple of campsites.
BEWARE HEARTBEAT NUTS.
There's a 'Rail Trail' along the original rail route to Grosmont. Catch the train, North York Moors Railway steam & diesel, back. You can use the train to get to walk starts & finishes. You can get to Wade's Road the Roman Road from Malton to the coast. The Lyke Wake route passes nearby. And Goathland is where the 'Crosses Walk' started & finished. The Crosses was a 24 hour/53mile challenge/fundraiser for the rescue teams. I was a checkpoint assistant on Lilla Howe checkpoint a few times. While you can get to Lilla Howe it's arduous. And the local war memorial cross is a good copy of Lilla Cross!. There's some nice walks from the village centre too. Don't forget your camera; and don't feed the sheep!. They're becoming lunch pack muggers, every house has a 'cattle grid' at the garden gate!.