Among them were the Crook and Weardale Ramblers group which walked from Whitby to Ravenscar as part of the celebrations.

The route, which snakes around the North York Moors National Park and passes through Staithes, Whitby and Robin Hood’s Bay, was divided into 10 sections, with a different group walking each section.

Also taking part were walk leaders from the North York Moors National Park Authority, other local Ramblers groups and Redcar and Cleveland Borough Council.

Walkers were given a commemorative pin badge and those walking from Helmsley and finishing in Filey – the official start and end points of the Cleveland Way – were also rewarded with a slice of cake to celebrate.

David Rubenstein, a former chairman of the Ramblers’ Association who was at the inauguration of the Cleveland Way 40 years ago, came along to see the first group set off from Helmsley on their walk to Sutton Bank.

Malcolm Hodgson, National Trails officer for the Cleveland Way, said: “It’s been fantastic to see so many people out walking the Cleveland Way – even the sun has put in a very welcome appearance.

“As well as those on the official walks, there have also been lots of other people taking a stroll along their favourite stretch and generally just enjoying some of the wonderful scenery to be found along the route.”

Further information on the Cleveland Way can be found at www.nationaltrails.co.uk/clevelandway