The Esk Valley Walk is a long distance footpath in North Yorkshire, England. The route first follows a loop on the North York Moors to the south of Castleton, then shadows the River Esk on its journey to the North Sea. Waymarking uses the symbol of a leaping salmon, with yellow arrows denoting footpaths and blue arrows bridleways.

Castleton is a village on the River Esk, part of the civil parish of Danby in the county of North Yorkshire in England. It can be found 7.1 miles (11.5 km) south-east of Guisborough, in the North York Moors. There was once a medieval castle sited on Castle Hill that is thought to have been abandoned when Danby Castle was constructed.