Depends how much and what sort of a walk you want. I like Buckden Pike and the best route is up Bucken Beck, straight out the back of the NT carpark, up past watershoots and some pretty impressive waterfalls, to old leadmines at the top where you come out of the valley and there is a bit of a peaty plod before it steepens again to the top. Then just take the bridleway back down to bucken, which is a mainly sandy year round track. Half day but good stretch of the legs.
My favourite round there which is a bit more of a stroll would be park Hubberholme, path up to the White Lion at Cray, high path along a limestone terrace to Yockenthwaite,down to the river and back to Hubberholme along the Dales Way along the river. Lovely walk, but there’s loads up and down the valley…