Yatesboro is an unincorporated community located in Cowanshannock Township, Armstrong County, Pennsylvania. The community is located 1.0 mile (1.6 km) west of Rural Valley. Yatesboro has a post office with ZIP code 16263.
The elevation is 1,132 feet. Yatesboro appears on the Rural Valley U.S. Geological Survey Map. Armstrong County is in the Eastern Time Zone (UTC -5 hours).