Hi Hunter,
I would say the Panorama Stones next to St Margaret's Church in Ilkley are in easy reach.
However, the rock art virgin (?) might be a bit disappointed because the stones are in a fenced enclosure.
http://www.themodernantiquarian.com/site/2373
Some years ago, the Manor House Museum in Ilkley had some rock art on display.
http://rockartuk.fotopic.net/p21861898.html
The TIC will help you out on this.
Enjoy your trip and we hear/see!
Jan

Hi Wolfy,

It depends what you mean by a short distance. The ones I can think of near to Ilkley & within about 500 meters of parking are;

Weston Moor (which is over a stile). Most of the carvings here are just simple cupmarks, apart from the Greystone rock:

http://www.themodernantiquarian.com/site/5866
http://www.themodernantiquarian.com/site/7691

Some of the RA in the Baildon Moor area is quite impressive, but it includes a 100m gradient to navigate.

http://www.themodernantiquarian.com/search/?action=search&site_names=Y&search_string=baildon

Theres also some on Snowden Carr (which I've not seen yet) meters away from the road.

If any others come to mind I'll let you know.

Depending when you're down, I'll quite happily show you around.

The Hanging Stones aren't too much of a slog.

Park at Cow n' Calf. Take the easy path up the side of the rocks straight in front of you. Once on top of the rocks, facing Wharfedale, head to your left on the path along the ridge towards the trees on the slope, down hill a little way, then up the side of the next outcrop you see in front of the quarries. Some fantastic rock art on the upper surface.