English Heritage: Totnes Castle
Totnes Castle is a Norman motte and bailey castle overlooking the town and the River Dart. Some highlights of your visit include checking out the 'graffiti' on nearby trees that was left by prisoners of war during WWII; the moat walk, which takes in the steep ridges that would have comprised the moat back in the day; and the incredible views from the very top of the keep.
The castle is within easy walking distance from Totnes. There is limited pay and display parking available, and Totnes train station is a quarter of a mile away, as are plenty of bus links.
There is a picnic area on site with tables and benches. The nearest toilet facilities are in Market Square, off Totnes High Street. Dogs on leads are allowed and assistance dogs are welcome.