Skipton Castle Woodland is 36-acres with a nice 3k circular walk with clear maps at the entrance to the woods. Not only does this make it a great walk with kids, dogs on leashes are allowed as well. There are great views of Skipton Castle for part of the walk as well.
Pay and display parking is available in the town of Skipton off Skipton High Street or behind Town Hall. You can enter Skipton Castle Woods from three different entrances.