Steeperton tor sits commandingly at the head of the Taw Marsh in northern Dartmoor. It is relatively easy to reach but a bit of a long walk. The easiest approach is from Belstone Village. Leave the village and head south along the Belstone ridge, taking in Ladybrook, Belstone and Higher tors. Once past Higher, take the track to Oke Tor and beyond, descending into Steeperton gorge. Cross the river and continue up the military track. Eventually there will be a turning off to the left which doubles back and heads for the summit. Take this track and keep plodding to arrive at your destination.
The rock outcrop is quite extensive and there is a somewhat unsightly military hut, but I will forgive this for the views north. This is a good spot to sit and take lunch, as I did.
Steeperton Tor, as with Oke Tor en route, lies just within the Okehampton military firing range. Check firing times before setting out.
Grid ref SX618887