Race winner Thomas Voeckler made his break for the front on Oliver's Mount.
Hundreds of people lined the route as it made its way along the race track.
The tour ambassadors stopped at the summit to sign autographs.
One of them, Denise Burton-Cole, said: "It's been a wonderful spectacle again for Yorkshire, I really hope next year we can get a fourth day".
Several members of amateur cycling clubs watched the mount climb.
Keith Cadwallader of Scarborough Paragon Club said: "The cyclists themselves say there's no other race of its size where crowds support them like they do here.
"But that's Yorkshire for you!"