Hi Hunter,
I would say the Panorama Stones next to St Margaret's Church in Ilkley are in easy reach.
However, the rock art virgin (?) might be a bit disappointed because the stones are in a fenced enclosure. http://www.themodernantiquarian.com/site/2373
Some years ago, the Manor House Museum in Ilkley had some rock art on display. http://rockartuk.fotopic.net/p21861898.html
The TIC will help you out on this.
Enjoy your trip and we hear/see!
Jan