One of the best-preserved medieval castles in Scotland, the magnificent Craigmillar Castle is a peaceful and modest yet beautiful counterpart to Edinburgh Castle. Its construction began in the late 14th century but was not completed until the 16th century. The central tower is the oldest section, dating from 1425 where you can spot many of the major tourist attractions in the city like the Castle, Arthur’s Seat or Calton Hill. The rest of the grounds include a doocot, two gardens, and inner and outer courtyard and a church. With its lovely castle park you can easily spend a couple of hours here surrounded by nature and history.