Baconsthorpe Castle

Baconsthorpe Castle is a free-entry ruined castle near Holt, run by English Heritage and open daily from 10am to 5pm. The atmospheric remains include moated walls, gatehouse towers and grassy courtyards and dogs on leads are welcome throughout the outdoor grounds. It's a proper heritage day out rather than just a walking spot, with gravel paths, plenty of sniff-worthy grass and medieval stonework that makes for excellent photo backdrops.

There are no facilities on site, but the ruins themselves are extensive enough to hold attention. The ground is uneven in places and can get muddy after rain and there's deep water around the moat, so keep leads secure. Dogs aren't allowed to climb on the stonework.

Parking is on site and costs £2 for non-members, or it's free if you have a valid English Heritage car sticker. The castle is about 16 miles from Cromer, making it a realistic morning or afternoon trip for anyone staying on the north Norfolk coast.