12.4 miles.

Expolorer Maps OL30, - Yorkshire Dales (Northern and Central Areas)

Although a relatively long walk, there are no especially steep gradients or navigational difficulties so that the distance can be covered in a confortable six hours.
You should allow somewhat longer if you also want to visit the spectacular waterfall of Mill Gill Force, and this will aslo add to the overall mileage.
However, the views on this walk are special, and it is well worth doing the walk on a clear day with good visibility. It will be enjoyable at other times, but the more so if there is good visibility.

For a Memory Map overlay of the walk described, please select the above link.
(Overlay made with Version 5 of Memory Map)

Start from in front of Askrigg Church (SD94784 90895). At busy times, parking spaces may be limited.
Walk South down the road out of Askrigg, then West for a few hundred yards. A footpath is waymarked on your left at SD944 908. Take this path West to Yore Bridge over the River Ure.
Cross the River Ure using this road bridge, and continue into the village of Bainbridge. Continue South across the Green at Bainbridge, heading for a lane past the Corn Mill Tea Rooms. At the end of the lane there is a waymarked footpath which takes you in a South Westerly direction to Gill Edge Farm.
At Gill Edge Farm, turn right along the access track then right at the road. Follow for road for a few hundred yards until you come to the end of the Cam High Road at SD925 895. Follow the Cam High Road uphill for the next 2 miles.
At SD895 877 a waymarked footpath takes you down over rough ground, - fairly steep in parts, to the village of Burtersett.
Head North through Burtersett, and just past the Methodist Chapel at SD890 892, there is a footpath to Hawes.
In Hawes, make for the National Park Information Centre (old railway station) at SD875 899. Here, there is a cutting that leads up to the road bridge over the old railway line. Follow the road for a short while before taking the footpath on your left through a field. This takes you back to the road again. Shortly after crossing the River Ure, there is a footpath at SD877 905 that heads North East to Sedbusk. Follow this footpath uphill, crossing a minor road, until you come to a road junction at SD883 910.
Here there is a waymarked footpath that head almost due East through fields, past the hamlet of Litherskew, to eventuall reach the hamlet of Skell Gill at SD922 914.
Follow the road East from Skell Gill, until you come to a footpath at a road junction (SD933 914) which leads you back to Askrigg.
This footpath also enables you to visit Mill Gill Force, which is clearly signposted.