The Castle can be visited
Okehampton Castle

Okehampton Castle is a ruin complex in the county of Devon, England. It was originally a Norman fortress dating back to the late 11th century.
History+
The origins of Okehampton Castle date back to the late 11th century, when it was built as a Norman fortress. In 1086, it was recorded in the Domesday Book as the property of Baudouin de Meules, one of the Norman lords in Western England and Sheriff of Devon. The structures visible today, including the keep and parts of the curtain walls, mainly date from the 14th century.
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: 50.7308, -4.0081