Golden Oak at Sherwood Forest

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.

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.

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.

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.

Lincoln Cathedral is a Church of England cathedral and a working place of worship, consecrated in the 11th century. The building is grade I listed and has Gothic architecture from several periods, including two large rose windows, the Dean's Eye and the Bishop's Eye. The Victorian writer John Ruskin rated it highly among British buildings.

Tip: The cathedral is a living church, so some areas can close for services or events. Check the visit page for current restrictions before you travel.

Wollaton Hall is an Elizabethan country house, built in the 1580s on a prominent hill in Wollaton Park, Nottingham. Its bold, heavily carved exterior is largely intact, and the Grade I listed building now houses Nottingham's Natural History Museum, with the Industrial Museum in the outbuildings.

Tip: Book the Hidden History Tour to see the Tudor kitchens and basement, and pay for parking by the RingGo app or by card on site.

Nottingham Castle stands on Castle Rock, a natural promontory with cliffs that dominate the city skyline. The Norman fortress is long gone, but the gatehouse and parts of the ramparts remain, and a 17th-century ducal mansion now houses the museum and galleries.

Tip: Cave and dungeon tours are optional add-ons to the main admission ticket, so book them when you buy your tickets.