There is no step-free access into Skipton Castle Woods. However, there are routes where the number of steps are limited. Public access on foot is available throughout the site, while permissive paths follow the Eller Beck (a tributary of the River Aire) and other watercourses, along with the eastern and north-western boundaries.
All pedestrian routes within the woodland are surfaced and in good condition. This includes a picturesque circular walk accessed via the Old Sawmill entrance, which is unfortunately unsuitable for wheelchairs due to steep slopes.
Other surfaced paths run along the north-western and eastern boundaries and exit the woodland at The Bailey. They offer excellent views over and along the wooded valley, but are narrower and have moderate to steep slopes and a flight of steps.
In wet weather or in instances of high water levels, some areas can become muddy.
There are a number of benches around the woodland, with the closest a quarter of a mile from the Old Sawmill entrance.