The Abbey was pipped to the post by Loch Ness' Urquhart Castle
The two beat sights including Windsor Castle and the Houses of Parliament.
With the credit crunch and weak pound forcing three quarters of Brits to take breaks in the UK this year, RAC created a must see list for road-trippers.
Kath Trumper, site supervisor at Whitby Abbey said : "We think it is fantastic news. We are very surprised and pleased to come second."
The RAC poll followed research that revealed just four out of ten people are proud of the sights on our doorstep.
In fact, twice as many Brits have visited the Eiffel Tower than have been to Stonehenge, with New York's Statue of Liberty and Rome's Coliseum also beating it, suggesting we appreciate overseas attractions more than ours.
Coun David Jeffels, Cabinet Member for Tourism and Culture said: "This is splendid news, everyone knows the abbey is a wonderful landmark and its yet another good news story for Whitby.
"The town goes from strength to strength. It's great to see it gaining accolades and attracting visitors all year round. Hinged on so much history, and culture, Whitby's past has proved to be its future."
Motorists said a wonder should combine historical importance with entertainment while having a wow factor and being easily accessible by road.
Graham Collinson, Chair of Whitby Hospitality Association said: "It's great news, it's all positive and the abbey is a nice place. It's something to be proud of - we should make more of Whitby's wonders."
The Abbey making second place follows the Gazette's recent coverage of the fact that sat nav systems are directing drivers down from Whitby Abbey via the donkey path.
From a shortlist of fourteen, Hadrian's Wall came third and the Angel of the North sixth.
Tom Wright of VisitBritan said: "Many British roads are a real pleasure to drive on so there's never been a better time to get behind the wheel and discover the national treasures on our own doorstep."
Nearly six in ten Brits admit they still have much of the UK to discover while eight out of ten Brits say they prefer to visit sites by car.
For a full list visit rac.co.uk.