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 7.1 miles south-east of Guisborough, in the North York Moors. There was once a medieval castle sited on Castle Hill that is thought to have been abandoned when Danby Castle was constructed. Castleton has a local school, St Michael and St George's Church, and two public houses, as well as a small Co-op supermarket, a tea room and a public toilet.