Most of the Dales is privately owned land, with pockets of National Trust property. The whole area is covered by a National Park.
In England and Wales generally, there are thousands of public footpaths, bridleways (horses allowed) and RUPP's (roads used as public footpaths. There is also a 'right to roam' though exactly what this means is lost on me, I've always walked where I wanted to. ;-)
As far as wild camping is concerned, anywhere above the top field boundary is fair game, and in practice, if you are up on sheep pasture out of the valley and out of sight, you probably won't get shouted at for making an overnight stop. Having said that, I try to buttonhole shepherds for permission when I see them.
In the north of England, it's all reasonably relaxed. Down south you can get quite a lot of "get orf my land" types. Wales is dodgy, farmers are belligerent towards the English (and any campers) and have dogs with equally bad tempers.
Scotland is pretty much open access, but woe betide you if you are caught poaching game.
A comment from an American visitor was that he couldn't understand the route map, because it went over a wall stile, and in America, doing that is likely to end in getting a gun pointed at you...