Castleton is a village on the River Esk, part of the civil parish of Danby in the county of North Yorkshire in England. It can be found about 15 miles south-east of Middlesbrough, in the North York Moors. There was once a medieval castle sited on Castle Hill. In times past Castleton was actually the main market and industrial town serving Upper Eskdale. There were annual wool, cheese and cattle fairs, cheese market and a silk mill. The Esk Valley Walk runs through the village.