The Yorkshire Dales National Park has several free audio trails you can download and use, with maps to accompany them. Most of them are around 3-5 miles long.
There are several to choose from:
Discover the fascinating story of the construction of the Ribblehead Viaduct, when a small town was created for the people working on this ambitious project.
Travel through 10,000 years of history around Grassington and learn about its historic features, farmland and wildlife.
Enjoy a wonderful riverside walk from Muker in Swaledale, finding out more about the area’s gorgeous hay meadows and discover some of the historic buildings in the area, as well as the Corpse Way.
Wander around the two villages of Bainbridge and Askrigg, and learn about the mills that were once an important part of life here.
Follow the audio trail from Stainforth along the River Ribble on to Stainforth Foss and then back via the remarkable Hoffman Kiln.
You can find all these free audio trails here.