William Peverel, a follower of William the Conqueror, founded the castle between 1066 and 1086. The Domesday Book records it. It was built in stone from the outset, unlike many early Norman castles. The keep probably began around 1176, when the Pipe Rolls record £184 spent in 1175 to 1177. It is square, under 39 feet (12 m) on each side. The gatehouse is attributed to Henry II or King John.
Stonework shows opus spicatum, or herringbone masonry, and the southern towers reportedly reuse Roman tiles. The castle sits on a limestone outcrop, and the enclosure is about 90 by 65 meters.
Decline began in 1374, when John of Gaunt ordered the lead stripped for reuse at Pontefract. The Duchy of Lancaster owns it, and English Heritage cares for it. It is a Grade I listed building.
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