Ainderby Steeple is a civil parish in the Hambleton District of North Yorkshire, England. It contains four listed buildings that are recorded in the National Heritage List for England. Of these, one is listed at Grade I, the highest of the three grades, and the others are at Grade II, the lowest grade. The parish contains the village of Ainderby Steeple and the surrounding area. All the listed buildings are in the village, and consist of a church, two houses, and a milepost.