There are no legal restrictions on travelling within England unless you live in tier 4.
If you live in a tier 4 area in England you must not leave home without a reasonable excuse. There is a non-exhaustive list of reasonable excuses set out in law, such as going to visit a member of your support bubble, recreation in a public open space, purchasing food and household essentials, and going to purchase or collect goods from a business which is legally permitted to be open/offering “click & collect”. There is no maximum distance prescribed in law, but there is potential that travelling a great distance to do or buy something which you could do or buy more locally may be classed as not reasonable and result in a risk of prosecution.
If you travel from a tier 4 area to a lower tier area you may, depending on the reason for your travel, be in breach of the requirement to not leave home without a reasonable excuse.
There is guidance, which is not legally enforceable, against travelling into or out of tiers 3 or 4.