From the Warwickshire Avon in the south, to the Trent in the north
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I suggest the Trent is probably your best bet from near Stafford down to near Derby. Check out the Song of the Paddle website - I think you will find some blogs of trips on the Trent. Also maybe do a general internet search for canoeing and river Trent. I recommend the Canoe & Kayak Map of Britain if you haven't got it. Happy paddling.