Construction of the fort was started in 1481 by the merchants of Dartmouth in a bid to protect their homes and the deep-water anchorage. Altered and extended in the 16C and 18C, it commands superb views of the sea and the estuary. It was the first castle in England to have a defensive system designed especially for the use of firearms. From the castle, visitors can enjoy delightful walks along the cliff on the South Devon Coast Path.