Launceston Castle is an impressive stone motte and bailey fortress, founded by Robert, count of Mortain. The Norman motte supports a 12th century shell keep and a central two storey drum tower, added in the 13th century when the castle was granted to Richard, earl of Cornwall. With solid drum towers flanking the South Gatehouse, a new curtain wall and the re-siting of the North Gatehouse, he transformed the defences. In the large rectangular bailey, he added a new kitchen, a chapel and a Great Hall which remained in use as the Assize Hall until the 17th century. Nearby is Launceston Town Gate, with Lydford Castle, 13 miles east and Bottreaux Castle, 16 miles west.