Black Bull Retreat

The Deep is a public aquarium in Hull, overlooking the Humber Estuary where the River Hull meets it. Its Endless Ocean tank holds sharks, rays and northern Europe's only pair of green sawfish, and you can walk through Europe's deepest viewing tunnel or ride a glass lift through the water.

Tip: Check the daily talk times when you arrive and plan your visit around the shark and penguin talks. Use HU1 4DP or HU9 1TU for sat nav, which takes you to Tower Street.

Burton Agnes Hall is an Elizabethan manor house near Driffield, built in the early 1600s. Inside, the Long Gallery has a richly plastered ceiling, and many 17th-century fittings survive, including carved woodwork, plaster ceilings and an alabaster overmantel. Next door stands the Norman Manor House, first built in 1173. Both are Grade I listed, and the Hall is still a lived-in family home.

Tip: Book tickets online ahead if you can. Card payments only, as cash isn't accepted on site.

Beverley Minster is the parish church of Saint John and Saint Martin in Beverley, East Riding of Yorkshire. It is one of the largest parish churches in the UK, bigger than a third of English cathedrals, and is regarded as a Gothic masterpiece.

Tip: Tours, including the Roof Tour, can be booked through the Minster's website. On Sunday mornings access is limited to the west end until services finish.

Scarborough Castle crowns a headland between the town's two bays. Climb to the viewing platforms in the Inner Bailey and the Great Tower for views over the town, the harbour and the bay. An exhibition tells the story of the site, including a Bronze Age sword on display, and there's a World Builder trail for younger visitors.

Tip: Leave plenty of time to wander the wide grassy headland as well as the castle itself.

Sledmere House is a Grade I listed Georgian country house between Driffield and Malton, and the ancestral home of the Sykes family. It is known for its Chippendale and Sheraton furnishings, fine plasterwork and the Long Library, which is described as one of the most beautiful rooms in England. The Turkish Room, with its Kutahya tiles, is another highlight.

Tip: The farm shop, adventure play area and farm do not need a ticket and parking is free, but check the website for current opening times before you set off.

Murton Park is set in 14 acres of countryside east of York and is home to the Yorkshire Museum of Farming. Inside you can explore the history of farm machinery, rural life and the Women's Land Army. Outdoors there are animals to meet, play areas, and a short ride on the Derwent Valley Light Railway at weekends.

Tip: The living history sites may have limited or no access during school term time, so visit at a weekend or in the school holidays to see the Roman fort and Viking village.

The Rotunda is the Museum of Coastal Heritage and Geology, opened in 1829 and among the world's first purpose-built museums. It was built to a design suggested by William Smith, the "Father of English Geology", and looks out over Scarborough's South Bay. Inside, a Georgian gallery has a frieze of the local coastline's geology, drawn by Smith's nephew John Phillips.

Tip: There's no car park on site, so use the nearby South Bay underground car park or Palm Court multi-storey. Check which galleries are open, as the West Wing is closed.

The Ferens is one of the UK's finest art collections, housed in a Grade II listed building in Queen Victoria Square. The collection runs from late medieval painting through to sculpture and new media, with highlights from Lorenzetti, Frans Hals, Canaletto, Leighton, Stanley Spencer, Helen Chadwick and Gillian Wearing. Alongside the permanent displays there are changing exhibitions.

Tip: No need to book for a normal visit, but last admission is 30 minutes before closing and the café shuts an hour before the gallery.