The Hudson Valley earned its reputation as one of National Geographic's must-see places in the world on the strength of its scenery, history, and small-town charm, and the good news is that a huge amount of it costs nothing to enjoy. From a quarter-mile-high pedestrian bridge to free art collections in a converted Nabisco factory, here's a guide to the region's best no-cost adventures.

Start with the icon. The world's longest elevated pedestrian bridge stretches 212 feet above the Hudson River on the site of a former railroad bridge built in 1888, and visitors can walk, jog, bike, or rollerblade across it free of charge, taking in views of the river, the Catskill Mountains, and the surrounding landscape. It connects Poughkeepsie and Highland, making it an easy add-on to a day exploring either side of the river, and it's just as striking in any season, whether you're catching fall foliage or a quiet winter sunset.

Dia Beacon, the contemporary art museum housed in a former Nabisco box-printing plant, normally charges admission, but Hudson Valley residents living in Albany, Columbia, Dutchess, Greene, Orange, Putnam, Rensselaer, Rockland, Saratoga, Schenectady, Sullivan, Ulster, Washington, and Westchester counties are invited to explore the contemporary art collection for free on the last Sunday of each month. It's one of the most respected art destinations in the country, and getting in without paying admission once a month is a genuine perk of living in or near the region.

Beacon itself rewards a slow afternoon of wandering. The town sits on the eastern shore of the Hudson River, just a 90-minute Metro-North ride from New York City, and once you're there, the Beacon Free Loop shuttles visitors to all the hotspots at no cost. Main Street is lined with galleries, shops, and food spots worth popping into, and the shuttle makes it painless to cover more ground without worrying about parking.

For something more active, hike Mount Beacon, the highest peak in the Hudson Highlands, where trails follow the abandoned tracks of what was once the world's steepest incline railway, passing the ruins of an old hotel and casino on the way up to a fire tower with 360-degree views. The mix of history and payoff view makes it one of the most rewarding free hikes in the region.

Olana, the hilltop estate built by Hudson River School painter Frederic Church, is best known for the sweeping views that inspired his landscapes. While guided house tours require a paid ticket, the 250 acres of grounds and the grand vistas of the Hudson and the Catskills beyond are free to explore from 8 a.m. It's an easy way to see what drew 19th-century artists to the area in the first place, without paying for the museum experience.

History buffs have plenty of free options too. At Stony Point, the site of one of the last battles fought in the northern colonies during the Revolutionary War, visitors can take a free self-guided tour of the 88-acre grounds, which include a museum and the first lighthouse built on the Hudson River. With the 250th anniversary of American independence being marked this year, it's a particularly timely stop.

Closer to the southern end of the Valley, the 5-mile Scenic Hudson Riverwalk Park in Tarrytown hugs the river and offers glimpses of the New York City skyline, the Mario Cuomo Bridge, and a small lighthouse. It's a flat, easy walk that works well for families or anyone looking for a low-key riverside stroll rather than a strenuous hike.

If you're drawn to atmospheric history, the region has no shortage of abandoned sites worth a visit. Hikers can trek to the abandoned village of Doodletown near Bear Mountain, the ruins of the once-posh Cornish Estate along the Breakneck Brook Trail in Cold Spring, and the crumbling remains of the Overlook Mountain House along Woodstock's Overlook Mountain Trail, all without paying a cent beyond the gas to get there.

Beyond the permanent attractions, the Hudson Valley's calendar is packed with rotating free events nearly every week of the year, from outdoor concerts to art receptions to farmers' markets. Recent examples have included a free outdoor Bossa Nova concert at the Beatrix Farrand Garden on the FDR National Historic Site in Hyde Park and a free weekly music series at The Local in Saugerties featuring Hudson Valley artists performing original work. Sites like HVNY's event calendar and Hudson Valley Magazine's weekly roundup are worth checking before any weekend, since the lineup of free festivals, gallery openings, and concerts changes constantly.

Between iconic landmarks like the Walkway and Olana, active options like Mount Beacon, and a steady stream of free concerts and exhibitions, there's rarely a week in the Hudson Valley without something worth doing for nothing. The trick is simply checking what's on before you head out, since several of these free perks (like Dia Beacon's monthly resident day) only come around once a month.