In reply to db79:
Huddersfield to Leeds (by train, 22 mins)
Leeds to Harrogate (by train, think its 30ish minutes)
Harrogate to Malham (by bus, Cravenlink service 875; 90 mins)
There may be more direct routes from huddersfield to skipton from where you can bus it to malham.
Its not 90 mains but more like 2.5 hours if every leg of the journey didn't need a wait.
However, if you were heading there for a weekend and camping it would be worth it.