Just been to Skipton and saw some overnight parking spaces (you can also sleep in the van). Its also mentioned if you google it that there's the same at Settle but I haven't time to look for it at the moment
Coach Street car park
Coach Street BD23 1LE (Map and Directions)
Situated near the canal. Coach Street can be accessed from Broughton Road, Gargrave Road or Water Street. Parking is available for cars and motorcycles. Public toilet facilities are available. See note re. building works above.
Monday - Sunday
Pop and Shop (Designated bays only) £0.20
Up to 1 Hour £1.20
Up to 2 Hours £2.30
Up to 3 Hours £3.50
Up to 4 Hours £4.50
Up to 9 Hours £5.50
Overnight £2.20
Weekly Ticket £15.00
Motorhome Overnight Ticket £5.00
Motorhome Overnight Tickets are valid for parking between the hours of 6pm and 9am on the day of purchase within the areas designated on the plans for each parking place (maximum permitted stay of 3 consecutive nights). Normal charges and restrictions apply outside these times in accordance with the Order.
Coach Street car park
Coach Street BD23 1LE (Map and Directions)
Situated near the canal. Coach Street can be accessed from Broughton Road, Gargrave Road or Water Street. Parking is available for cars and motorcycles. Public toilet facilities are available. See note re. building works above.
Monday - Sunday
Pop and Shop (Designated bays only) £0.20
Up to 1 Hour £1.20
Up to 2 Hours £2.30
Up to 3 Hours £3.50
Up to 4 Hours £4.50
Up to 9 Hours £5.50
Overnight £2.20
Weekly Ticket £15.00
Motorhome Overnight Ticket £5.00
Motorhome Overnight Tickets are valid for parking between the hours of 6pm and 9am on the day of purchase within the areas designated on the plans for each parking place (maximum permitted stay of 3 consecutive nights). Normal charges and restrictions apply outside these times in accordance with the Order.