Roger Bigod, 2nd Earl of Norfolk, built the present castle after regaining royal favor in 1189, and it was complete by 1213. An earlier castle stood here, but sources differ on who founded it. Henry II had it slighted after the revolt of 1173 to 1174. The new castle had no central keep. Its defense relied on a curtain wall 34 feet (10.5 m) high with thirteen mural towers.
The walls are local flint and septaria, with sandstone at the tower corners. The Howards later added Tudor brickwork and ornamental chimneys. Mary I was proclaimed queen here on July 19, 1553.
The castle served as a poorhouse from 1729. It came under state guardianship in 1913, and English Heritage manages it today. It is a Grade I listed building and a scheduled monument.
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