Carlton is a village in the civil parish of Carlton Town in the Richmondshire district of North Yorkshire, England. According to the 2001 census it had a population of 126. Carlton Town, the formal name of the civil parish, distinguishes the parish from the adjacent civil parish of Carlton Highdale, historically part of the manor of Carlton. The village is in the Yorkshire Dales National Park, near the River Cover in Coverdale. It is the largest village in Coverdale and it has a public house, the Forester's Arms, and a village hall. It was also home to the "Coverdale Bard", Henry Constantine, and an inscription has been placed in his memory above the entrance to Flatts Farm.
In 2011 the Forrester's Arms was purchased by the local community.
To the east is the medieval motte of Carlton Castle.
Prior to the nationwide municipal reorganization of 1974, Carlton Town was located in Leyburn Rural District. Historically, it was located in the ecclesiastical parish of Coverham in the Hang West Wapentake.