This well-preserved and beautifully sited castle juts out into the narrow entrance of the Dart estuary. Begun in the late 14th century, a defence called "the Fortalice" was intended to protect the homes of Dartmouth merchants from shipborne attack. By 1491 it had been reinforced by a gun tower, probably the very first fortification in England purpose built to mount heavy cannon. 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. Why not make it a full day out and take a boat trip from the quayside at Dartmouth, which lands you just a short walk from the castle entrance.