The Old Robin Hood

Chatsworth is a Grade I listed stately home in the Derbyshire Dales, home to the Devonshire family for 17 generations. Inside, over 25 rooms show art and artefacts spanning 4,000 years, including the Painted Hall, the State Rooms and the Sculpture Gallery. Some rooms close for annual conservation, so not every one is always open.

Tip: Book online in advance for free parking. Prams and rucksack-style baby carriers aren't allowed in the house, but there is left luggage near the entrance.

Gulliver's Kingdom is a theme park in Matlock Bath, aimed at children aged 3-13. It sits on a hillside on the edge of the Peak District National Park, so many of the rides come with views over the Derwent Valley. The Crows Nest Quest is there to climb, and the log flume runs high above the valley.

Tip: Leaving the car behind? Matlock Bath station is a 10-15 minute walk away, and a valid public transport ticket can bring a discount on entry.

Yorkshire Wildlife Park is a zoo and conservation centre on the outskirts of Doncaster, South Yorkshire. You explore on foot, with three walk-through animal reserves and themed lands that recreate habitats from around the world.

Tip: Booking tickets in advance is cheaper than buying on the day, and Planet Putt next to the entrance is a good wet-weather add-on.

Haddon Hall is an English country house on the River Wye near Bakewell in Derbyshire, and a former seat of the Dukes of Rutland. Its origins go back to the 11th century, with major building carried out between the 13th and 16th centuries. It has been described as "the most complete and most interesting house of [its] period".

Cromford Mills is where Richard Arkwright developed the world's first water-powered cotton spinning mill in 1771. The Grade I listed site is the centrepiece of the Derwent Valley Mills UNESCO World Heritage Site, and it is a multi-use visitor centre with shops, galleries, restaurants and cafes.

Hardwick Hall is an Elizabethan country house built between 1590 and 1597 for Bess of Hardwick, once the richest woman in England after Queen Elizabeth I. It is famous for its enormous windows, which gave rise to the saying "Hardwick Hall, more glass than wall".

Tip: No advance booking is needed, and parking is included with a ticket. Set your sat nav to S44 5RW to reach the correct entrance.

Bolsover Castle in Derbyshire, now run by English Heritage, was built in the early 17th century on the site of a medieval castle. It was designed for elegant living rather than defence. The playful 'Little Castle' is the star, with its Star Chamber and Marble Closet and striking replica furnishings.

Tip: Parking in Bolsover, including the castle car park, is free, and booking early online can save money.

The National Tramway Museum in Crich is an open-air museum with a working tramway. Its collection of trams is officially designated as nationally important. Vintage trams run along a recreated period street, complete with a pub, shops and a sweetshop, then head out into open countryside with views over the Derwent Valley. Tram rides are included in the ticket.

Tip: Book online at least 24 hours ahead for a slightly lower price, though you can also pay on arrival.