The hamlet is approximately 4 miles (6 km) north-east of the town of Hedon, 1 mile (1.6 km) north of the village of Burton Pidsea, and 14 miles (23 km) south-east from the county town of Beverley. Danthorpe is centred on Southfield Lane, the road running from Burton Pidsea to Humbleton, and just south of its junction with Back Lane running 1 mile west to the parish village of Elstronwick.
Danthorpe is listed in the Domesday Book as 'Danetorp', in the Hundred of Holderness, and was of 5.2 geld units—taxable units assessed by hide area—and contained one ploughland, 3.8 households, and one smallholder. In 1066 the lordship was held by the Canons of Beverley St John, who held thirty-three manors in the east of Yorkshire under the overlordship of Ealdred, Archbishop of York. This lordship was retained by the Beverley canons in 1086, under the following archbishop of York, Thomas of Bayeux, who was also Tenant-in-chief to king William I.
At the east of Danthorpe is the farm of the Grade II listed Danthorpe Hall. The hall dates to the late 17th century, with 18th- and 19th-century wing additions, and is built of red brick with pebbledash rendering.
- Gazetteer — A–Z of Towns Villages and Hamlets. East Riding of Yorkshire Council. 2006. p. 5.
- Media related to Danthorpe at Wikimedia Commons
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