Castles in Yorkshire: 10 Worth Visiting (and One That Isn’t a Castle)
Castles in Yorkshire come in every shape: Norman keeps on river cliffs, a medieval fortress that once held Mary Queen of Scots, a family home that’s been lived in for about 700 years, and clifftop ruins above a seaside resort. Most are close to places you’ll be visiting anyway, so they slot into a trip without much planning.
I live in Wensleydale, and two castles are part of my everyday view. I can see Middleham Castle from my bedroom window, and we see Bolton Castle in the distance every time we drive to my wife’s parents in the Lake District. This guide starts with the castles I know, then covers the best of the rest. I’ll be clear about which is which.
Short on Time? My Top Three
- Richmond Castle, for the best-preserved early Norman castle in England and the way it suddenly appears.
- Knaresborough Castle, for the view down to the railway viaduct over the River Nidd.
- Bolton Castle, combined with the walk from Aysgarth Falls.
Castles in Yorkshire at a Glance
| Castle | Where | Best for | Run by |
|---|---|---|---|
| Richmond Castle | Richmond, Swaledale | Norman history, keep views | English Heritage |
| Knaresborough Castle | Knaresborough, near Harrogate | Viaduct view, museum | Local council |
| Middleham Castle | Wensleydale | Richard III | English Heritage |
| Bolton Castle | Wensleydale | Mary Queen of Scots, gardens | Family-owned |
| Ripley Castle | Near Harrogate | Lived-in castle, guided tours | Ingilby family |
| Skipton Castle | Skipton, edge of the Dales | Complete medieval castle | Skipton Castle |
| Clifford’s Tower | York | Rooftop views over York | English Heritage |
| Scarborough Castle | Scarborough | Headland and sea views | English Heritage |
| Pickering Castle | Pickering | Pairing with the steam railway | English Heritage |
| Helmsley Castle | Helmsley | A North York Moors market town | English Heritage |
Opening times and prices last checked October 2026. Many castles keep shorter hours in winter, and some close altogether, so always check before you go.
The Castles I Know
1. Richmond Castle
Richmond Castle was probably founded in the late 1070s by Alan Rufus, a kinsman of William the Conqueror. English Heritage calls it the best-preserved early Norman castle in England. Scolland’s Hall, built in the 1080s, is one of the earliest surviving examples of domestic architecture in the country. You can climb the 12th-century keep for views over the town and Swaledale.
The thing I’d tell a friend: you can’t see the castle from Richmond’s market square, but take what feels like a side road and it’s suddenly right there in front of you.
Don’t skip the cell block by the gate. In 1916 it held conscientious objectors who refused to fight in the First World War, and their graffiti still survives on the walls. Some of them, known as the Richmond Sixteen, were sent to France and faced a possible death sentence.
2. Knaresborough Castle
Knaresborough Castle has stood above the River Nidd for more than 900 years. For me, the reason to go is the view: from the castle you get an amazing view of the railway viaduct over the river. For the rest of the town, see my guide to things to do in Knaresborough.
The grounds are open all year. The Courthouse Museum has a Tudor courtroom, and separately priced Sallyport tours take you through a secret tunnel. In 2026 the museum opened Tuesday to Sunday, 9.30am–4.30pm, from April to October, and Wednesday to Saturday, 10am–3.30pm, from November to March. Adult entry was £4.40 and a child ticket £2.50. Knaresborough is a short trip from Harrogate, and it’s in my guide to day trips from Harrogate.
3. Middleham Castle
This is my local castle. I can see it from my bedroom window. Middleham was Richard III’s northern power base, and his son Edward was born here. At its heart is a Norman keep that English Heritage calls one of the biggest in England. The Neville family later built ranges of rooms around it, which earned it the nickname “the Windsor of the North”. There’s a viewing platform on the keep with views over Wensleydale.
Middleham is a small racing town as well, and it’s in my guide to the prettiest Yorkshire Dales villages.
4. Bolton Castle
Bolton Castle is in the village of Castle Bolton in Wensleydale, close to Aysgarth. I haven’t been inside yet, but I know its surroundings well. We once parked at Aysgarth Falls and walked to the castle and back, about 13–14 km in total. It was an amazing hike.
Sir Richard le Scrope, Lord Chancellor to Richard II, built the castle, and it was finished in 1399. Mary Queen of Scots was imprisoned here for six months in 1568. In the Civil War it held out for the King until 1645, when the garrison was starving. Today the Orde-Powlett family still owns it, and the gardens, maze, tea room and daily falconry and archery displays make it a good half-day out. Bolton Castle is closed from 2 November 2026 to 5 March 2027, so save it for spring.
5. Ripley Castle
Ripley Castle is about three miles from Harrogate, and I know it from working there rather than sightseeing: my wife and I have traded at the market in the castle courtyard with her jewellery business. The Ingilby family has lived here for about 700 years. After the Battle of Marston Moor, “Trooper” Jane Ingilby held Oliver Cromwell overnight in the castle library. King James I stayed here in 1603, and by 1605 members of the family were caught up in the plotting against him.
You can only see inside on a guided tour. In 2026, tours ran Tuesday to Saturday and cost £19.50 for adults and £5 for children aged 6–18. The gardens open daily from 10am to 4pm. On the last Sunday of the month, market day, entry to the gardens is free. The Boar’s Head pub is part of the estate too.
More Castles in Yorkshire Worth Visiting
I haven’t visited these yet, so this part is researched from each castle’s own website and checked against a second source where needed.
6. Skipton Castle
Skipton Castle calls itself one of the most complete and best-preserved medieval castles in England, and it still has its roof. It was founded around 1090 and given to the Clifford family in 1310. During the Civil War it held out for three years before surrendering in 1645. Lady Anne Clifford restored it afterwards and planted a yew tree in the courtyard in 1659. Skipton is a gateway to the southern Dales, so it pairs well with Malham or Grassington.
7. Clifford’s Tower, York
Clifford’s Tower is the largest surviving part of York Castle and sits on a mound in the middle of the city. Inside, displays cover its history, including the 1190 massacre of York’s Jewish community. The timber roof deck gives you 360-degree views over York. If you arrive on foot, by bike or by public transport, show your ticket or helmet at the desk for 20% off entry bought on the day. It’s also included in the York Pass. Fit it into my York itinerary or see more things to do in York.
8. Scarborough Castle
Scarborough Castle stands on a headland between the town’s two bays. The grassy headland is a wildflower meadow, and there are remains of a Roman signal station on the cliff edge. The viewing platforms in the inner bailey and the Great Tower look over the town, the harbour and the bay. It’s a good add-on to a day at the seaside. See my guide to things to do in Scarborough.
9. Pickering Castle
Pickering Castle is built around a steep Norman mound, or motte, that once had a stone shell keep on top. Stone curtain walls were added in the 13th and 14th centuries. Climb the stairway up the motte for views over the countryside. The castle is in the same town as the southern terminus of the North Yorkshire Moors Railway, so it fits easily into a steam train day.
10. Helmsley Castle
Helmsley Castle has been a medieval fortress, an Elizabethan mansion, a besieged Civil War stronghold and a romantic Georgian ruin. Its tall east tower still dominates the town, and the double banks and ditches around it are impressive in their own right. Helmsley is one of the best bases for the moors. See my guide to where to stay in the North York Moors.
What About Castle Howard? (It’s Not a Castle)
Castle Howard tops a lot of “castles in Yorkshire” searches, but it isn’t actually a castle. It’s a stately home: an English Baroque country house designed by John Vanbrugh for the 3rd Earl of Carlisle and built from 1701. It took its name from the site, which was once home to Henderskelfe Castle. It’s still the Howard family’s home, and it’s where Bridgerton was filmed.
I’ve been, and I’d still go, just not for battlements. This winter the house hosts “A Dickens of a Christmas” from 12 November 2026 to 3 January 2027. You can book Castle Howard tickets and tours or see how to get there in my guide to day trips from York.
Tips for Visiting Castles in Yorkshire
- Book English Heritage castles online. Richmond, Middleham, Clifford’s Tower, Scarborough, Pickering and Helmsley are all English Heritage sites. Booking online by midnight the day before saves you 15%, and members get in free.
- Check winter hours. Bolton Castle closes from November to early March, and Knaresborough’s museum keeps shorter winter hours. For the rest, check the castle’s own website for your date.
- Hire a car for the Dales castles. Middleham, Bolton and Richmond are easiest by car. You can compare car hire on Booking.com.
- Base yourself well. Leyburn is my pick for Middleham and Bolton; see where to stay in the Yorkshire Dales or browse hotels in Leyburn. For Knaresborough and Ripley, see where to stay in Harrogate.
For a castle road trip through Wensleydale, my Yorkshire Dales itinerary passes Middleham and Bolton. For more ideas, see the best things to do in Yorkshire and my guide to abbeys in Yorkshire.
Castles in Yorkshire FAQ
What is the best castle in Yorkshire?
For history, Richmond Castle, which English Heritage calls the best-preserved early Norman castle in England. For a castle that’s still complete with its roof, Skipton. For views, Knaresborough.
Is Castle Howard a real castle?
No. Castle Howard is a stately home built from 1701 on the site of the former Henderskelfe Castle. It was never fortified.
Which Yorkshire castle held Mary Queen of Scots?
Bolton Castle in Wensleydale, where she was imprisoned for six months in 1568.
Can you visit Yorkshire castles in winter?
Some of them. Bolton Castle is closed from 2 November 2026 to 5 March 2027, and Knaresborough Castle’s museum opens Wednesday to Saturday in winter, although its grounds are open all year. For other castles, check the official website for your date.
Which castle is closest to York?
Clifford’s Tower is in York city centre. Knaresborough and Ripley are both near Harrogate, and Castle Howard, the stately home, is a popular day trip from York.
