The remains of the Castle can be visited
Penrith Castle

Penrith Castle, now a ruined medieval fortification, is located in the county of Cumbria in northwest England.
History+
The construction of Penrith Castle took place between 1399 and 1470, primarily as a bulwark against Scottish attacks. Although the lordship of Penrith was granted to the newly appointed Earl of Westmorland as early as 1397, the castle itself is first mentioned in a document from 1437. It is believed that Richard Neville, the Earl of Salisbury, was the most likely builder, although it remains unclear whether he built upon existing structures or initiated a completely new construction. The Neville family held the most important offices in the 15th century and was the most significant source of patronage in the region. After Salisbury's death in 1460, Richard, the Earl of Warwick, inherited the castle. Following his demise, it reverted to the Crown and was granted to Richard, Duke of Gloucester, in 1471.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Maciek Wegrzyn
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: 54.6621, -2.7574