The remains of the Castle can be visited
Hagenbeck Castle (Ruin) (Dorsten)

The Hagenbeck Ruin in Dorsten, North Rhine-Westphalia, is the remains of a former knight's seat located on the north bank of the Lippe river.
History+
The first documented mention of “Hagenbeke” appears around 1150 in the urbarium of the Benedictine abbey of Werden. In 1217, Gerhardus de Hagenbeck is named for the first time as a member of the noble family. The knights of Hagenbeck served as ministeriales to the bishops of Münster. In 1315, the brothers Everhard and Tillmann von Hagenbeck sold the castle to Bishop Ludwig of Münster as an “Offenhaus” (open house), though the agreed-upon usage rights of the bishop were never exercised. The castle, which remained a family seat until 1410, was strategically located at a ford of the Lippe, on the border of the Prince-Bishopric of Münster with the County of Cleves and the Electoral Cologne Vest Recklinghausen. After 1338, the original motte-and-bailey castles were replaced by new buildings. The 14th century saw family conflicts when Johan de jonge sided with the Counts of Cleves and became involved in warfare, leading to the siege and loss of his shares in the castle.
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: 51.6677, 6.9139