Middleton is a small village and civil parish in North Yorkshire, England. It is situated on the A170 road to the west of Pickering.
St Andrew's Church, Middleton is Grade I listed. Above the entrance to the Church is a sundial that dates back to 1782.
Middleton Hall, next to the church, is a Grade II Listed house dating from the mid 18th century.
The village was part of the Ryedale district between 1974 and 2023. It is now administered by North Yorkshire Council.