The larger part of the valley lies within the county of North Yorkshire but its highest reaches fall just within Cumbria. It is defined by the hills of Whernside to its east and Gragareth to its west. Kingsdale is drained by the south-westward flowing Kingsdale Beck which assumes the name River Twiss before joining the River Doe at Ingleton to become the River Greta. The single minor public road which serves the valley is followed by the Yorkshire Dales Cycle Way. There are several nationally important caves within the valley (such as Rowten Pot and Yordas Cave) and the impressive resurgence of Keld Head.