Whorlton is a hamlet and civil parish in North Yorkshire, England. It is very near Swainby and the A19, and 6 miles south west of Stokesley. Features include the remains of Whorlton Castle and the Church of the Holy Rood. From 1974 to 2023 it was part of the Hambleton District. It is now administered by the unitary North Yorkshire Council.
In 1810 a hoard of Roman silver coins and metalwork, the Whorlton Hoard, was found near Whorle Hill.
Whorlton Castle was built by Robert de Meynell as a typical 12th century motte and bailey Norman castle. A gatehouse was added in the 14th century. The only remains visible today are the grade I listed gatehouse and traces of the grade II* listed undercrofts (or cellars) of the main building. Due to vandalism access to the site is restricted.