Living in Cheshire has some advantages as within an hour i can be in some of the most picturesque places in Derbyshire. Regular places that i go to for the weekend are Castleton and Edale with parking possible at the far end of Castleton going towards the Blue John mines which is a dead end and quiet when all the day trippers have left.
Favourite parking spot at Castleton
From Castleton it is only a half hour through the Peak Forest to another great spot at Monsal Dale.A great spot for walkers and you can walk over the viaduct or down the edge .There is a pub and restaurant serving traditional ales and good food and a large car park that does get busy in the day but once the walkers have gone you should be able to park for a night at the top end.
Another favourite is Bakewell again a walkers paradise and it does have parking facilities on the cattle market but i dont think it is possible to park overnight.
From Bakewell another 10 miles or so down the A6 is Matlock and Matlock Bath ,the latter a favourite spot for bikers at weekends and it is possible to overnight in the station car park.The next village down is Cromford and another place its possible to overnight is the basin and theres a lovely walk down the canal
Matlock Bath station car park
view over Castleton
View from Monsall Head