As you drive through Yorkshire on the main A1 road, you're following in the footsteps of the Roman legions who conquered northern Britain in the 1st century AD. In fact, many Yorkshire towns – including York, Catterick and Malton – were founded by the Romans, and many modern roads (including the A1, A59, A166 and A1079) follow the alignment of Roman roads.

When the Romans departed in the 5th century, native Britons battled for supremacy with the Angles, an invading Teutonic tribe, and, for a while, Yorkshire was part of the Kingdom of Northumbria. In the 9th century, the Vikings arrived and conquered most of northern Britain, an area that became known as the Danelaw. They divided the territory that is now Yorkshire into thridings (thirds), which met at Jorvik (York), their thriving commercial capital.

In 1066 Yorkshire was the scene of a pivotal showdown in the struggle for the English crown, when the Anglo-Saxon king, Harold II, rode north to defeat the forces of the Norwegian king, Harold Hardrada, in the Battle of Stamford Bridge, before returning south for his appointment with William the Conqueror – and a fatal arrow – in the Battle of Hastings.

The inhabitants of northern England did not take the subsequent Norman invasion lying down. In order to subdue them, the Norman nobles built a chain of formidable castles throughout Yorkshire, including those at York, Richmond, Scarborough, Skipton, Pickering and Helmsley. The Norman land grab formed the basis of the great estates that supported England's medieval aristocrats.

By the 15th century, the duchies of York and Lancaster had become so wealthy and powerful that they ended up battling for the English throne in the Wars of the Roses (1455−87). The dissolution of the monasteries by Henry VIII from 1536 to 1540 saw the wealth of the great abbeys of Rievaulx, Fountains and Whitby fall into the hands of noble families, and Yorkshire quietly prospered for 200 years, with fertile farms in the north and the Sheffield cutlery business in the south, until the big bang of the Industrial Revolution transformed the landscape.

South Yorkshire became a centre of coal mining and steel-making, while West Yorkshire nurtured a massive textile industry, and the cities of Leeds, Bradford, Sheffield and Rotherham flourished. By the late 20th century, another revolution was taking place. The heavy industries had died out, and the cities of Yorkshire were reinventing themselves as shiny, high-tech centres of finance, digital innovation and tourism.