Langwith Mill House

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.

Creswell Crags is an enclosed limestone gorge on the Derbyshire and Nottinghamshire border. Its caves were occupied by Neanderthals and modern humans during the Ice Age, and they hold the northernmost cave art in Europe.

Tip: Book your cave tour ahead, and check the website before you go as the museum may be closed for upgrade work.

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.

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.

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.

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.

Mr Straw's House in Worksop is a National Trust property preserving the home of a grocer's family. It has been virtually unchanged since the Straws moved in during 1923, and it holds around 30,000 everyday possessions, many on display where their owners left them.

Tip: Book your timed tour in advance, as groups are limited to four. Bags can't be taken round, so leave them at reception.

Rufford Abbey is a former Cistercian abbey near Ollerton in Nottinghamshire, founded in 1147. English Heritage looks after the remains, which include the best-preserved west cloister range of a Cistercian abbey in England, dating mainly from around 1170. After the dissolution it was converted into a country house, and the abbey remains are built into part of a 17th century and later mansion.

Tip: Check the English Heritage and Rufford Abbey Country Park websites before you go, as access to the inside of the ruins can change and the car park is run separately from English Heritage. Dogs on leads are welcome.