Bainbridge is a civil parish in the former Richmondshire district of North Yorkshire, England. It contains 43 listed buildings that are recorded in the National Heritage List for England. Of these, one is listed at Grade II*, the middle of the three grades, and the others are at Grade II, the lowest grade. The parish contains the villages of Bainbridge, Countersett, Stalling Busk, Marsett and Worton, and it extends to the south into Raydale. Most of the listed buildings are houses, cottages and associated structures, farmhouses and farm buildings. The others include bridges, Friends' meeting houses, a set of stocks, a hotel and a public house, a church and the ruins of an earlier church, a former grammar school, and a telephone kiosk.