Tamworth Castle Tamworth Castle , a Grade I listed building , is a Norman castle , located next to the River Tame , in the town of Tamworth in Staffordshire , England . Overlooking the River Tame , the site has been fortified since Anglo - Saxon times , when Ethelfleda , the Mercian Queen , built a burh to defend against Danes ( Vikings ) ; it served as a residence of the Mercian kings . Rebuilt and enlarged by the Normans , it is today one of the best preserved Norman motte - and - bailey castles in England . The Castle has the second largest motte in England , after that at Windsor Castle . History . The first castle at Tamworth was built in 913 by Ethelfleda , Lady of the Mercians . The castle we see today was constructed in its place by the Norman invaders c . 1070 . It dates primarily from the 11th and 12th century and was constructed in the typical Norman motte and bailey fashion . Following the Norman Invasion of 1066 , Tamworth was granted to Robert Despenser , steward to William the Conqueror . Robert died childless and so the castle passed to his brother Urse d ' Abetot ' s daughters , one of whom , Matilida , married Robert de Marmion . The Marmion family , from Fontenay - le - Marmion , Normandy , held the castle for 6 generations from c . 1100 - 1294 . The Marmion family were hereditary champions to the Dukes of Normandy and then the new Kings of England . This role required them to offer a ceremonial challenge to those who would oppose the King , at the coronation ceremony . The 4th Robert Marmion of Tamworth Castle ( 1185 – 1218 ) , also known as " Robert the Justice " , was appointed " Head of the Itinerant " by King Henry II ; role equating to a mobile Lord Chief Justice . In 1215 , during a campaign in France , Robert deserted King John and switched to support the French King . In retaliation John ordered Robert ' s son Geoffrey to be imprisoned , all of Robert ' s lands to be confiscated and Tamworth Castle to be demolished . The castle was at least partially demolished , however , following John ' s death the following year ( 1216 ) Robert ' s sons were able regain their father ' s lands . The last of the Marmions to own Tamworth Castle was Philip Marmion ( 1241 - 1291 ) . Philip was a close supporter of King Henry III and received large gifts in return for remaining loyal to the King during the baron ' s revolt . Henry III is thought to have visited the castle in 1257 . Philip had no legitimate sons and so the castle passed on his death ( c . 1291 ) to his daughter . In 1294 she , however , died without an heir and the castle passed to her niece ( daughter of another of Philip ' s daughters ) , Joan : wife of Sir Alexander Freville . The Freville family ( or de Freville ) , originally from Cambridgeshire , held the castle until 1423 . Baldwin de Freville died leaving a two - year - old son , and three daughters ; his son died a minor and in 1423 the castle passed to the eldest daughter , Elizabeth , and her husband , Thomas Ferrers of Groby . Numerous additions were made to the castle over the centuries , especially in the Jacobean period . The shell keep contains a 12th - century gate tower and later residential accommodation in an H plan comprising a 13th - century three storey north range , and a 17th - century Jacobean three storey south range linked by an oak timbered Great Hall of the 15th century . During the Civil War , when the castle ' s governor was Waldyve Willington , the castle was captured by parliamentary forces after a brief siege . In July , 1645 the castle garrison comprised ten officers and 77 soldiers under the command of Governor Willington . A muster of the garrison on 28 May 1646 lists only 23 soldiers , " the rest of the soldiers being about fiftie are at Lichfield Leguer uppon dutie there with Lt . Ensigne , one sergeant , one corporal and one drummer " ( musters SP 28 / 122 - 3 ) . In 1668 the castle passed to the Shirleys of Chartley . and then in 1715 to the Comptons when Elizabeth Ferrers married the 5th Earl of Northampton . During the Comptons period of ownership the castle fell into disrepair but in 1751 Charlotte Compton , the grandniece of 1st Earl Ferrers married George Townshend of Raynham . The Townshends took up residence and the castle was much improved by them in 1781 . During most of the 19th century the castle was let out to tenants including Robert Peel and from 1869 to 1891 Thomas Cooke . On Cookes death the Marquess Townshend put the castle up for sale by auction and it was purchased by the Tamworth Corporation . The castle was also depicted in a work by the English Romantic artist J . M . W . Turner , entitled simply ' Tamworth Castle ' . Royal Visitors . Royal visitors after the Norman Conquest :