The summit is crowned by a trig point, and a track passes about 110 yards (100 m) to the south of this point. This track forms part of the route of both the Lyke Wake Walk and the Cleveland Way, and also forms the most commonly used route of ascent for Urra Moor. It is 1.9 miles (3 km) from the car park at Clay Bank to the summit via this route; total ascent is just under 660 feet (200 m).
Urra Moor is noted for its prehistoric remains. There are a number of barrows, and several carved rocks, including some cup and ring carvings. Probably the most striking relic is the Face Stone, a carved stone about 3 feet 3 inches (1 m) in height into which has been carved the shape of a face.