A castle was first mentioned on this site in 1242, but the oldest parts of the present structure were built by Lord Latimer in the 14th-century to show off his wealth. It has been much adapted over the years including the addition of a farmhouse. The castle stands in a commanding location on the south side of the Esk valley. Although a castle by name it was never intended as a military fortification. A manorial court, the Danby Court Leet regularly meets in one of its rooms, the Courtroom, which is also used now a “wedding venue”. The most famous resident was reputedly Catherine Parr, future wife of King Henry VIII who once visited her here.
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