The gently sloping camping field at Hooks House Farm is possibly the best place to enjoy the magnificent views of Robin Hood’s Bay, one of Yorkshire’s most dramatic stretches of coast. If you tire of watching the tide washing in and out over the sweep of rocky beach, it’s a short stroll to Bay Town, an old smugglers’ haunt where ancient fishermen’s cottages cling to a near-vertical slope as the cliff drops down to a little fishing harbour at the water’s edge. The camp site’s vibe is peaceful, relaxed and low-key; a top-notch family-run site.

01947 880283, www.hookshousefarm.co.uk; from £4 adult, £2 child

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4. Cloud Farm, Exmoor

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The 110-acre Cloud Farm is almost hidden from view, secreted away in the beautiful Doone Valley as it carves through Exmoor. The owners have succeeded in creating a relaxed countryside camping environment, with the site, stables and tearooms hidden among tall pines and steep, purple heather-clad slopes. There aren’t hundreds of rules to obey; you can pitch wherever you fancy and campfires are allowed.

01598 741234, www.doonevalleyholidays.co.uk; from £5 adult, £3.50 child

5. Larkhill Tipis, Carmarthenshire*

Twelve years ago, Larkhill was a simple family home surrounded by open farmland. But the new owners, Fran and Tony, had a plan – to turn this place into a peaceful woodland hideaway. They planted 60 species of tree, terraces were levelled off and tepees and yurts were built. Then Tony designed and constructed a log cabin to serve as a kitchen and dining room, with electricity powered by the wind and the sun. The result is a magical, mystical, low-impact woodland camp site – and a great use of redundant farmland.

01559 371581, www.larkhilltipis.co.uk; four-berth tepee £60 per night or £360 per week

6. Marthrown of Mabie, Dumfries*

Huddled around a fire to illuminate the gloom of their Iron Age roundhouse, our ancestors eked out a living in places like Mabie Forest. Follow in their footsteps by camping out at Marthrown of Mabie. This reconstructed Iron Age roundhouse allows up to 16 people to cosy up around a roaring fire and dream of times gone by. Nearby is a canvas tepee that sleeps eight; tents are also accepted, but the roundhouse is the real star. Luxurious extras include a sauna and hot tub.

01387 247900, www.marthrown.com; £15pp in the roundhouse or tepee, pitches from £10

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