Ulshaw is a hamlet on the River Ure, in the civil parish of Thornton Steward, in North Yorkshire, England, near to Middleham. The hamlet derives its name partly from the Medieval stone bridge which spans the River Ure to the immediate south of the hamlet. Ulshaw Bridge is 2.5 miles (4 km) west of Thornton Steward, and 1.25 miles (2 km) east of Middleham.