Golden Square near Helmsley is fantastic for your age range of kids, really good play areas in a lovely setting. Think there is a pub but maybe not within walking distance with little ones
Hooks house Farm at Robin Hood's Bay, yorkshire coast. We had a fab week there last September. Owners very friendly and helpful - it's a short walk into the town where there are about 5 or 6 pubs, lovely walks, quirky shops - good food at pubs - also The Fylingdales Inn nearby. Most places are dog friendly too if that matters to you??
Amazing family weekend with old steam engines, classic car displays, market stalls, and full catering and bar. And camping on site - Save £25 by booking in advance.