There's no finer sight (or smell) than a heather moorland in full bloom and Grinton Moor is one of the best places to experience it. It is managed for grouse shooting and the castle-like Grinton Lodge once housed Victorian shooting parties, today it is a Youth Hostel. There are lots of public rights of way criss-crossing the moor and also several informal laybys where you may park up to admire the views of Swaledale and listen to the calls of moorland birds.
Maiden Castle is an enigmatic archaeological site lying high on the moor. It is probably prehistoric and may have had some sort of ritual use with its banked enclosure and walled entrance way.