Yorkshire was incorporated in 1901. In its early years, the village grew rapidly; the population was 182 at the 1910 census.
According to the United States Census Bureau, the village has a total area of 0.28 square miles (0.73 km2), all of it land.
As of the census of 2010, there were 96 people, 36 households, and 21 families residing in the village. Thepopulation density was 342.9 inhabitants per square mile (132.4 /km2). There were 40 housing units at an average density of 142.9 per square mile (55.2 /km2). The racial makeup of the village was 95.8% White and 4.2% from two or more races.
There were 36 households of which 30.6% had children under the age of 18 living with them, 41.7% were married couples living together, 8.3% had a female householder with no husband present, 8.3% had a male householder with no wife present, and 41.7% were non-families. 30.6% of all households were made up of individuals and 11.2% had someone living alone who was 65 years of age or older. The average household size was 2.67 and the average family size was 3.33.
The median age in the village was 31.3 years. 24% of residents were under the age of 18; 13.6% were between the ages of 18 and 24; 28.1% were from 25 to 44; 21.9% were from 45 to 64; and 12.5% were 65 years of age or older. The gender makeup of the village was 53.1% male and 46.9% female.