Kilnsey is a small village in Wharfedale, North Yorkshire, England. It lies on the B6160 road, between the villages of Grassington and Kettlewell, near Arncliffe and just across the River Wharfe from Conistone. The village is 12 miles (19 km) north of Skipton and 3 miles (5 km) south of Kettlewell.

Wharfedale is the valley of the upper parts of the River Wharfe and one of the Yorkshire Dales. It is situated in North Yorkshire, and the cities of Leeds and Bradford in West Yorkshire. It is the upper valley of the River Wharfe. Towns and villages in Wharfedale include Buckden, Kettlewell, Conistone, Grassington, Hebden, Bolton Abbey, Addingham, Ilkley, Burley-in-Wharfedale, Otley, Pool-in-Wharfedale, Arthington, Collingham and Wetherby. Beyond Wetherby, the valley opens out and becomes part of the Vale of York.