Mountain peaks around Milton Abbot are characterized by hills and elevated terrain, with an average elevation of 150 meters. While traditional mountain peaks are not directly within Milton Abbot, the area is in close proximity to Dartmoor National Park, which features distinctive granite outcrops known as tors. Brentor is a notable elevated point nearby, known for its historic church and panoramic views. The region offers diverse landscapes for exploration.
Last updated: June 29, 2026
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Middle Staple Tor (Dartmoor) – A Wild Camp with Stunning Views I visited Staple Tor and wild camped on Middle Staple Tor during a recent bikepacking trip through Cornwall and Dartmoor. I pushed up from the nearby car park — a handy spot to pause for a refreshment before the final ascent. In good weather, the tors look deceptively close, but Middle Staple Tor sits just over 450m, and with a fully loaded rig, I ended up pushing most of the way. That effort was well worth it. The views from the top were incredible, offering a wide sweep of the surrounding moorland. I could see the weather rolling in from a distance, which gave me just enough time to dive into the tent before the rain and low visibility hit. A classic Dartmoor moment. The descent via the old quarryman’s path is short but enjoyable, leading back to the road toward Princetown — perfect for a hot breakfast and access to town facilities. A memorable spot for wild camping and a peaceful overnight on the moor. Tips: • Bring proper gear, footwear and prepare for pushing your bike up rocky paths • Keep an eye on the weather — it changes fast up there and is generally cooler even in summer • Ideal for wild camping with amazing sunrise views if you’re lucky with the weather
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A short, easy tour: clear landscapes, soft grassy paths, gentle inclines, and magnificent views. A beautiful loop around the Langstone Manor campsite.
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The views from both Great Links and Brat Tor are incredible. On a clear day you can see both the North Coast and South Coast as well as Bodmin Moor. The River Lyd stepping stone crossing is nice but there is still a wooden bridge crossing if you are a little unsteady on your feet.
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The first impression of this simple but solidly crafted small sacred monument from 1887 is powerful and imposing. The lonely stone cross can be seen from afar thanks to its exposed location. The ancient, venerable cross is a natural part of this environment and one could almost think that it is literally growing out of the rock from which it rises to a proud height.
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Kit Hill sits high above the Tamar Valley, overlooking the river and the valley it formed. The hill boasts a wide array of history, including 18 burial mounds, neolithic and bronze-age barrows, as well as pointers towards Cornwall's more contemporary mining history.
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Pew Tor is a peak in Dartmoor National Park. The tor rises above the lowlands of Whitchurch and Plaster Downs above Tavistock. The tor has plenty of large boulders to climb around on to try and get the best views of the surrounding countryside, and is quite close to roads and parking, so makes a perfect scramble for those not wishing to walk too far.
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Whilst it's not quite as grand as Great Staple Tor a few hundred metres north, Middle Staple Tor is still a worthy waymark affording some magnificent views across the Dartmoor landscape.
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The area around Milton Abbot, particularly within Dartmoor National Park, features several popular tors and elevated points. Among them, Widgery Cross at Brat Tor is highly regarded for its historical significance as the tallest cross on Dartmoor, offering expansive views. Pew Tor is another favorite, known for its large boulders and panoramic vistas. Additionally, Middle Staple Tor provides magnificent views across the moorland.
Yes, several elevated points near Milton Abbot boast significant historical and cultural landmarks. St Michael's Church on Brentor is particularly famous, perched dramatically atop the tor and offering stunning panoramic views. Another prominent historical landmark is Widgery Cross at Brat Tor, a tall granite cross erected in 1887 to commemorate Queen Victoria's Golden Jubilee. Kit Hill Trig Point also features 18 burial mounds and insights into Cornwall's mining history.
The tors around Milton Abbot, especially those within Dartmoor National Park, offer breathtaking panoramic views. From Brentor, you can see across the surrounding Devon landscape. Pew Tor provides extensive views of the countryside, while Middle Staple Tor offers a wide sweep of the surrounding moorland. Kit Hill Trig Point provides views high above the Tamar Valley.
For easier walks, you can explore routes that offer gentle inclines and accessible paths. While many tors involve some climbing, Pew Tor is noted for being quite close to roads and parking, making it a good option for those not wishing to walk too far. For specific easy hiking routes, consider exploring options in the Easy hikes around Milton Abbot guide, which includes routes like the 'Blanchdown Wood – View from Blanchdown Wood loop'.
Many tors offer enjoyable experiences for families. Pew Tor, with its large boulders to explore and accessible location, is a good choice for families. The views from most tors are rewarding for all ages. When planning, look for routes described as 'easy' or 'moderate' in the Hiking around Milton Abbot guide to find suitable options.
The area around Milton Abbot and Dartmoor National Park offers a variety of outdoor activities. Hiking is very popular, with numerous trails leading to and around the tors. You can find many options in the Hiking around Milton Abbot guide. Gravel biking is also a fantastic way to explore the landscape, with routes like 'Granite & Gears: Princetown & Burrator Loop' detailed in the Gravel biking around Milton Abbot guide.
The highest point on Dartmoor, and in Southern England, is High Willhays, standing at 621 meters (2,039 feet) above sea level. Along with Yes Tor, it is one of the only summits in England south of Kinder Scout to rise above 2,000 feet, offering challenging hikes and expansive, rugged landscapes. You can find more information about High Willhays on Wikipedia.
Yes, there is a free car park not far from the base of Brentor. You can reach it by turning up a track that runs alongside the Dartmoor Inn on the A386. From there, it's approximately a 40-minute walk to the summit of Brentor and St Michael's Church.
Generally, you do not need a permit for recreational hiking on the open moorland and tors within Dartmoor National Park. However, it's always advisable to check the Dartmoor National Park Authority's official website for any specific access restrictions or regulations, especially concerning military firing ranges or protected areas, before your visit.
The best time to visit the tors and peaks around Milton Abbot and Dartmoor National Park is generally during the spring, summer, and early autumn months (April to October). During these periods, the weather is typically milder, and the days are longer, making for more pleasant hiking conditions and better visibility for enjoying the panoramic views. Be aware that weather on Dartmoor can change rapidly, even in summer.
Yes, there are several circular walking routes that incorporate Brentor and its iconic church. For example, the 'Brentor Church – St Michael's Church, Brent Tor loop from Brentor' is a moderate 12.6 km hike that allows you to experience the area. You can find more details and other options in the Hiking around Milton Abbot guide.
When hiking on Dartmoor, it's crucial to be prepared for changeable weather. We recommend wearing layers, including waterproof and windproof outer shells, even in summer. Sturdy hiking boots with good ankle support are essential due to the uneven and often boggy terrain. Always carry a map, compass or GPS, sufficient water, and snacks. It's also advisable to bring a hat and gloves, as conditions can be cooler and windier at higher elevations.
While specific cafes directly at Brentor are limited, the nearby village of Brentor itself, and the surrounding areas, offer options. The Dartmoor Inn, located on the A386 near the car park for Brentor, is a popular choice for refreshments and meals after a walk. Tavistock, a short drive away, also provides a wider selection of cafes, pubs, and restaurants.


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