The Castle can be visited
Dartmouth Castle

Dartmouth Castle, a fortress, is located at the mouth of the River Dart in Devon, England. It is the oldest surviving English coastal fortification designed for cannon use.
History+
The origins of fortifications at this site date back to 1388. The current structure was built between 1481 and 1495, serving, along with Kingswear Castle on the opposite bank, to protect Dartmouth's harbor. The complex underwent expansions in the 16th and 17th centuries and remained in military use until the 19th century.
Location+
The castle is situated in Dartmouth, within the county of Devon, England, United Kingdom, at an elevation of approximately 13 meters above sea level. St. Petroc's Church is located directly adjacent to the castle.
On site+
Dartmouth Castle is owned by English Heritage and is open to visitors. For a fee, one can explore this fortress.
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Sign in →Source: Wikipedia · Licence: CC BY-SA 4.0
This description draws on the facts documented in the linked Wikipedia article; Wikipedia content is licensed under CC BY-SA 4.0. Wording and editing: Mobile History.
Location: 50.3423, -3.5661