This brilliantly positioned defensive castle juts out into the narrow entrance to the Dart Estuary, with the sea lapping at its foot.
Begun in the late 14th century, the castle was intended to protect the warehouses and homes of Dartmouth's merchants. It was one of the earliest castles built with the prospect of artillery attack in mind.
It is said that Chaucer based The Shipman character in his Canterbury Tales on the colourful John Hawley - the merchant and mayor of Dartmouth who built the first castle on this site. Today, you can enjoy other tales of the castle as you journey through time from the Tudor period and the Civil War to World War II. Displays on the castle's 600-year history add to the experience.
Make it a full day out. Why not take a boat trip from quayside at Dartmouth which lands you just a short walk from the castle entrance.