Once, long ago, an ancient forest covered the land between Nottingham and Worksop in the heart of England. This vast, dense woodland was known as Sherwood Forest and was home to one of English folklore’s greatest heroes: Robin Hood.

Along with his trusty Merry Men, Robin would steal from the tyrannous rich, as they travelled along the forest roads, and give the takings to the impoverished and less fortunate. And so, the legend of Robin Hood was born.

The ravages of the modern age have not been kind to Sherwood’s majestic trees. As with much of Britain’s native forests, many have been felled to turn the gears of industry, support the great war efforts of the last few centuries and, uniquely to Sherwood, to make way for country estates, known as the Dukeries. What remains is a mosaic of ancient woodland, vibrant new plantations, magnificent parkland, classic farmland, grand ducal estates and charming villages.

It is through this historic and much-changed land that the Robin Hood Way winds through. Starting in the vibrant city of Nottingham and its mighty castle and finishing at the village of Edwinstowe and the 1,000-year-old Great Oak, it is a marvellous and varied long-distance trail.

During its 105-mile (169 km) course you visit many places with strong associations to Robin Hood, as well as landscapes of scenic magnificence, such as the limestone gorge of Creswell Crags and the timeless remains of Sherwood itself. Whether tackling the route one day at a time or setting out on a grand multi-day adventure, it is a route achievable by all. Gradients are kind, paths are easy to follow (look out for the bow and arrow pointing the way ahead) and you’re never far from cafés and pubs in the next town or village.

The idea behind the route was initially conceived by Chris Thompson of the Nottingham Wayfarers Rambling Club and the original route was opened in 1985, thanks to the sterling efforts of Roland Price and Alex Hickton. It was extended to its current format in 1995 to include the historic town of Southwell and other areas of interest, such as some of the country parks.

The Way is feasible in all seasons but bear in mind that trails can get very muddy during the winter months or after rainfall, particularly those through the woodland sections. Sturdy boots, warm layers and waterproofs are recommended for all but the most optimistic summer forecast. This is England, after all.

In this Collection, I have split the route up into eight stages of between 11 and 17 miles (18 to 27 km) in length, though there are many ways to break the route down further due to the wealth of villages and public transport along the route. The vast majority choose to start the route in the city and save the traditional heart of Sherwood, the Major Oak and Edwinstowe, for the closing stages, as well as other highlights like Creswell Crags and Clumber Park.

It is highly recommended that you book accommodation in advance if you are planning to sleep along the route. Stage end points Burntstump Park, Creswell Crags and Whitewater Bridge have very limited options and you may need to arrange public transport to get you to your lodgings. You will easily find plenty of food and drink and all stages finish near pubs, cafés and restaurants.

If travelling by car, the entire route is just to the east of the M1 and therefore easily accessed from London, Leeds and Sheffield, as well as being within straightforward driving distance from Manchester and Birmingham.

Nottingham is well served by a mainline train station with links to most major cities. Edwinstowe does not have its own train station but is connected by bus to Mansfield, Retford and Worksop, which all do. Check bustimes.org/localities/edwinstowe for more information.