Hooks House Farm at Robin Hoods Bay is really nice. The pitches are sloping but the owner will tow your van in and level it. Fantasic views. It's about five miles from Whitby. We didn't use the facilities but I had a quick look in, they were clean. There's some positive reviews on UK Campsites.
I love the area, Whitby has a good selection of shops and takeways, restaurants. There's a Morrisons there too. Plenty of petrol stations in the area. Plenty of walking in the area, but obviously it's hilly. Some nice beaches. We loved it.
Lisa