If you are looking for something for the family or not requiring specialist equipment Yorkshire has a generous selection of show caves, where guided tours will supply you with the information about the cave systems.
Ingleborough Cave near Clapham - http://www.ingleboroughcave.co.uk/
White Scar Caves near Ingleton - http://www.whitescarcave.co.uk/ - the longest show cave in the UK
How Stean Gorge in Nidderdale - http://howstean.co.uk/
Stump Cross Caverns at Greenhow - http://stumpcrosscaverns.co.uk/
For the more adventurous there is direct caving in various locations such as
Kingsdale Master System, Gaping Gill System, Alum Pot, Hull Pot and Hunt Pot.
Other distinctive rock formations and locations for walking and viewing
Malham Tarn and Semerwater
Sink holes such as Braithwaite Wife Hole & Churn Milk Hole
Thieves Moss in Crummackdale
Castleberg Crag above Settle
Earl's Seat and Simon's Seat on Barden Fell
All information received from Yorkshire Dales National Park Authority and for more info check out - http://www.yorkshiredales.org.uk/