Mulgrave Castle is an interesting 13th century stone enclosure fortress, sitting astride a high ridge. The buttressed curtain wall forms a revetment around the large flat bailey, which is also flanked by a gatehouse with solid drum towers, a small 14th century square tower and two mural towers. In the middle of the bailey is an unusual square 13th century tower house, which in 1300 was converted into a keep, by the addition of circular corner towers and then in the 16th century large Elizabethan mullioned windows were added. Successor to Lythe Castle.