I’m paid to walk all over the UK and this overlooked market town with 950-year-old castle and Spoons pub is a favourite

What makes a great English Market town? A 950-year-old castle, an original Georgian theatre and a Wetherspoons boozer?

Well, if that's the case, Richmond in North Yorkshire has made the cut - and thanks to its proximity to the Yorkshire Dales, it's a walker's paradise too.

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John Millen, a man who has walked over 10,000 miles through National parks and walking routes in the UK, has described Richmond as "really, really pretty".

The 58-year-old from Kent is a guide for  - a company that's been organising hiking expeditions in the UK and Europe since the 1970s.

John has walked the Coast to Coast Path - a 193-mile walking route from St Bees in the Lake District to Robin Hood's Bay in North Yorkshire - more than 20 times.

Speaking exclusively to Sun Travel about the best towns and villages he's seen on his hikes, John said: "Towns and villages in the Yorkshire Dales are also really, really pretty like Richmond-on-Swale - not to be confused with Richmond-on-Thames.

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"It has a nice Norman castle and one of the largest Georgian market squares in the world.

"It's very interesting and really pretty, but also there's a lot of history in the town and I love that."

John believes that the area is overlooked as a walking destination when compared to destinations down south that are closer to London.

He said: "I think the South Downs way gets more tourists than any of the national parks, because of its close to London and Brighton.

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"Which is why I recommend heading to the Yorkshire Dales, because the villages are pretty and the walking routes are quieter."

Often described as the gateway to the Yorkshire Dales, Richmond is a vibrant market town in North Yorkshire.

The market town is home to just over 8,000 people, according to a Census from 2011.

It is believed to be the - with all other cities, towns and villages from around the globe being named after the Yorkshire town.

A statement on the : "With its iconic castle, fine historic buildings, sweeping cobbled market place and leafy riverside vistas, it is the original of no less than 105 worldwide Richmonds - all following in its ancient footsteps.

"As if this impressive pedigree is not enough, you will also find a host of individual shops, tempting eateries and exciting cultural and heritage attractions to explore and discover".

One of the town's most popular attractions is its Norman Castle, which was built in the 1070s after the Battle of Hastings.

Richmond castle, which is nearly 950 years old, marks the founding of Richmond - although people have been living in the area since the Neolithic Period.

While it's considered to be the best-preserved example of an early Norman castle in England, the Yorkshire castle was derelict by 1540.

Nowadays, it's managed by English Heritage with visitors able to climb the keep for panoramic views of the surrounding area.

Entry tickets to the castle start from £5.

Despite its routes in Norman England, the town actually flourished in the Georgian Era becoming an "important regional hub for social activities" and gaining a reputation for its elegant buildings.

One place where holidaymakers will get a glimpse into the town's Georgian history is the Georgian Theatre Royal - an award-winning attraction in Richmond.

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It's thought to be one of the most complete working playhouses in Britain, with visitors able to book themselves onto tours.

Built by actor Samuel Butler in the 18th century, modern visitors who book the Georgian Theatre Experience can see the UK's oldest surviving stage scenery as they learn about what life would've been like as an actor.

Other attractions in Richmond include the Green Howards Museum, a military museum, and Richmondshire Museum, which details the town's history.

There's also the ruins of Easby Abbey, which are considered one of the best preserved monasteries of the Premonstratensian white canons.

The town is also described as a "walker's paradise" because it's used as a base for hiking routes in the Yorkshire Dales National Park.

It's also the largest town on the Coast to Coast Path, making it an ideal place for walkers to rest their weary legs.

The town is home to several cosy pubs, including the Holly Hill Inn, the Castle Tavern and the Black Lion Hotel.

There's also the Ralph Fitz Randal - a Wetherspoons boozer.

Richmond is a 20-minute drive from Darlington.

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Meanwhile, you can sip pints while watching dolphins and whales from the pub garden in this UK seaside town.

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