Houses shook amid loud bangs as Typhoon jets were scrambled.
The aircraft were launched from RAF Coningsby on Monday night to identify an unresponsive civilian aircraft, the Ministry of Defence said.
People reported hearing what sounded like two loud explosions.
These were later confirmed to have been sonic booms.
An RAF spokesman said: "Quick reaction alert Typhoon aircraft were launched today from RAF Coningsby to identify an unresponsive civilian aircraft.
"Communications were re-established and the aircraft has been safely landed."
Reports suggested the jets had escorted a plane into Newcastle International Airport after it went off course.
North Yorkshire Police earlier tweeted to reassure people there was no danger, later writing: "Confirmation from RAF that loud bangs heard across the county were sonic booms from RAF Typhoon jets. No cause for concern."
One woman wrote: "house shook & whole street was out, car & house alarms gone off. Apparently was a sonic boom."
Another said: "Those vibrations shook my house and scared me to death. #QRATYPHOON had me out of my bed."
Last month, two bangs heard around Northampton and Brackley were caused by Typhoon jets which had been scrambled from an RAF base in Lincolnshire to identify an unresponsive aircraft.