Totnes Castle

Totnes Castle is a compact Norman motte-and-bailey castle perched above the town of Totnes, about half an hour inland from Dartmouth. Managed by English Heritage, it offers a short historic day out with well-preserved stone keep, inner bailey and views across the surrounding countryside. Dogs on leads are welcome throughout the castle site and there's a dog bowl and waste bin provided.

The site includes steps and steep slopes, so expect a bit of scrambling if your dog's never met medieval stonework before. There are no toilets on site, which keeps visits brisk but means planning ahead with water and comfort breaks.

Limited pay-and-display parking sits about 64 metres away, with other town car parks nearby. It's a straightforward stop for dog owners exploring the Totnes to Dartmouth corridor and a good midpoint if you're combining errands with a bit of history and a chance to stretch legs without the usual castle restrictions.