Whitby Abbey was located at the top of the 199 steps in Whitby. It was reputed that it was where Dracula came ashore, a fact stated by Brenda in her letter to the readers of Paul Magrs' series of books about herself and Effie. (PROSE: Brenda's B&B)
Behind the scenes
Though it's possible that a real world location doesn't exist in the same geographic space in the Doctor Who universe, such cases are few and far between. Thus, the map at right is probably a good indicator of the DWU location of Whitby Abbey.