With plenty of day trip oppoprtunities during the summer, or the chance to discover new places on longer journeys, the possibilities are limitless. However, some destinations are more deserving of a visit than others, and the Yorkshire market town of Helmsley is among the very best.

Emma Gill of the Manchester Evening News stumbled upon it by accident during a recent trip to the nearby Yorkshire Spa Retreat and, after catching a glimpse of it on the way, she said she couldn't resist the temptation to stop by for a few hours on a sunny Saturday. Praised as "a breath of fresh air" by Visit North Yorkshire, it has previously won the Great British High Street Award's best market town category and is reportedly "a place everyone should visit at least once in their lifetime".

There are numerous scenic walks and cycling routes from the town - leading you through the North York Moors National Park - and the town even boasts its own castle, with impressive stonework defences, including the striking east tower that still dominates Helmsley's skyline.

"But we were there mostly to have a relaxing mooch around the many shops and grab a bite to eat," Emma said. "With so many cafes and coffee shops lining the streets, we were spoilt for choice, but decided on an outdoor table at the pretty Number Twelve tearoom, in the shadow of the castle in the town's Castlegate.

"After a very tasty breakfast - a full English, a sausage and hash brown sandwich and drinks, coming in at a reasonable £28 - it was time to hit the shops."

The town boasts more independent shops than chain stores, adding to its unique charm. A picturesque market square, which regularly hosts markets and serves as a popular gathering spot for motorcyclists, is surrounded by streets lined with stone buildings and stunning floral displays.

Hunters of Helmsley, a family-run business that has been selling food and drink for 30 years, was so visually appealing that passers-by, including us, were compelled to stop and take photos of the shop front.

There are numerous noteworthy shops to visit, ranging from the Traditional Sweet Shop to the quirky The Ginger Bear, a distinctive shop selling a variety of gifts and accessories, complete with adorable little tin men guarding the entrance.

With an abundance of bakeries and delicatessens, there's no shortage of places to pick up a sweet treat or two. Emma added: "On our way back to the car, we made a pit stop at Auntie Anne's Bakery, renowned for its speciality steak pies and attracting customers from far and wide. We picked up a selection of its sweeter treats including a handmade custard tart and triple chocolate shortbread.

"If you throw in a trip to the castle, there's certainly enough to make a day of it here. Beer tours are on offer at the local craft brewery, Helmsley Brewing Co, if that's your thing.

"And just down the road is Beadlam Grange Farm Shop, which has its own butchery, delicatessen, greengrocery and a two-floor bistro as well as a dog-friendly seating area and a toddler play area in its undercover fold yard."

According to Visit North Yorkshire, picturesque Helmsley "has so much going on" that "if you go once, you are likely to go back time and time again". And Emma said: "I wouldn't disagree."