Cheers and applause from thousands of spectators met soldiers from the 3rd Battalion of the Yorkshire Regiment as they marched through Skipton as part of a Freedom Parade.

Locals, visitors, shoppers, schoolchildren, dignitaries and members of the Royal British Legion lined the streets to see the former Duke of Wellington’s Regiment, proudly displaying its new colours received last week from the Duke of York in a ceremony at York Minster. The colours are highly prized and symbolise the spirit, courage and dedication of the regiment.

Led by the Band of the Brigade of Gurkhas, the 150 soldiers and two tanks made their way through the town via Caroline Square, Swadford Street, Coach Street, Water Street and back down the High Street where, in front of the statue of former Skipon MP Sir Mathew Wilson, the salute was taken by Coun Paul Whitaker, chairman of Craven District Council.

It was in 2002, through an initial suggestion by Coun Marcia Turner, the council’s vice-chairman at the time, that the Duke of Wellington’s Regiment was given the Freedom of Craven, allowing it to march through the district with bayonets fixed, bands playing and colours flying. This followed an earlier award to the regiment in 1991 of the honorary citizenship of Skipton.

Coun Turner, the chairman’s consort, said it was an emotional experience when Coun Whitaker initiated a call of three cheers prior to the parade setting off from Otley Street.

“Everyone joined in. I wouldn’t be surprised if it could have been heard in Bradford,” she said.

Along with the soldiers, some of whom had recently returned from operations in Afghanistan, around 100 guardsmen with fixed bayonets marched with 30 Ghurkas and five drummers and paused at the top of the High Street.

Coun Whitaker, accompanied by Lord Crathorne, the Lord Lieutenant of North Yorkshire, and Colonel Simon Newton, deputy colonel of the Yorkshire Regiment, spoke to the men, saying it had been a huge honour to welcome the regiment to the town.

“The men and women of our armed services give dedicated service to Queen and country and for that we are all very grateful,” he said. “I am well aware that many of the soldiers on parade here today have just returned from operational tours in Iraq and Afghanistan. And, even as we meet here, other members of our armed forces are putting their lives at risk for which we will be forever grateful and wish them well.

“Some of the soldiers that make up the 3rd Battalion of the Yorkshire Regiment come from Craven. They and their comrades will face many testing challenges in the future. We have a particular affection for the Yorkshire Regiment and there will always be a warm welcome for you in Craven.”