The African white-backed vulture was first seen in Robin Hood's Bay on Tuesday afternoon by a family out for a drive.
Andrew Straw said he saw a large bird being attacked by a group of crows and followed it in his car to a nearby tree.
He said: "It was my son Ryan who first pointed it out to me.
"I thought it looked like a vulture but couldn't be sure. Luckily, we had our digital camera with us so I was able to get a few shots.
"It stayed in the tree for about 15 to 20 minutes before flying off."
On Wednesday morning it was seen by bird enthusiast Wilf Norman who was walking his dog in Grosmont.
His story is similar to that of the first sighting as the vulture was once again under attack from another large group of birds.
"I couldn't believe it when I looked up," said Mr Norman.
"I knew straight away it was a vulture before I had even got my binoculars out.
"I could tell by its silhouette."
The bird stands 2.5m high and has a wing span of around 11ft.
Despite its size a spokesman for the Hawk Conservancy Trust said it posed no threat to humans and wildlife as it is purely a scavenger and would not kill to feed itself.
The Independent Bird Register, which tracks lost birds, said there had been no reports of lost vultures recently but they have been tracking one in the past few weeks.
"There was a sighting of a bird last week in Nottinghamshire then Derbyshire and obviously now in North Yorkshire," said Neil Fowler who runs the organisation.
"We would ask anyone else who sees the bird to inform us straight away on (0870) 6088500."
l Alternatively, call Carl Gavaghan on (01947) 829907 or email him at: carl.gavaghan@yrnltd.co.uk