10.4 miles.

Expolorer Maps OL26, - North York Moors (Western Area)

An excellent circular walk, which can be undertaken at any time of year. No particular difficulties or navigational problems.
Setting out from Skinningrove there is a sharpish climb up to the cliff path. This was the only ascent of note, though.

For a Memory Map overlay of the walk described, please select the above link.
(Overlay made with Version 4 of Memory Map)

Start from the Car Park by Skinningrove's Tom Leonard Mining Museum. (NZ71188 19247). Head North along the footpath to the sea front, crossing the beck to continue along the road to the sea front.
Once at the sea front, take the clearly signposted Cleveland Way footpath heading East. The first stage of this section of the footpath involves a steepish ascent up to the top of the cliff.
Follow the Cleveland Way footpath for almost 2.5 miles, heading East all the time.
At NZ750 196, there is a stile leading to a footpath that heads South towards a radio mast. Follow this footpath due South, first crossing a minor road then heading for the A174. This footpath takes you straight across a field at one point, - which was ploughed and ready for planting when we crossed it.
Cross the A174 and take the track to Twizziegill Farm. Here, follow the waymarks to take the footpath East to Mine Wood. Some care may be needed in following the correct footpath, as another footpath is also waymarked to Newtown Gill Wood (which is North of where you want to be).
Where the footpath in Mine Wood meets a track, head South on the footpath which goes steeply up a bank leading you to Ridge Lane.
Turn right on Ridge Lane and continue for just under 2 miles. Ridge Lane is very quiet with respect to traffic, though you still need to be observant.
At NZ748 159 turn right onto the footpath that takes you through woodland and across the Easington Beck towards Spring House Cottages. The footpath through the cottage grounds is clearly marked.
Continue on the footpath heading West until you meet the minor road (Grinkle Lane) at NZ741 160. Here turn right, then almost immediately left onto South Town Lane.
Where there is a footpath finger post indicating the path to Loftus (Loy Lane), follow this path to Loftus village.
When you meet the A174 in Loftus, turn left and head West. Just opposite the Church, in the High Street, is a minor road heading North, - Hummersea Lane.
Just past North Terrace on Hummersea Lane is the footpath back to Skinningrove, - clearly sign posted.