The river Esk has burst its banks, with Ruswarp and Sleights badly affected.
The Met Office said that at Fylingdales over 42mm of rainfall had been recorded.
Particularly affected was the A169 at Blue Bank, Sleights on the outskirts of Whitby where seven vehicles became stuck.
Fire Crews from Whitby, Lythe and Goathland assisted with the vehicles, ensuring the safety of occupants and stabilisation of vehicles until the area could be made safe with sandbags. The A169 is currently closed at Blue Bank.
Nearby at The Carrs at Ruswarp, two more people were rescued from their car.
Fire crews from Robin Hood’s Bay, Lythe, Danby, Whitby and Goathland all attended flooding incidents in the area.
All images provided by Glenn Kilpatrick of Whitby Photography.