English Heritage: Helmsley Castle
There are 900 years of history to uncover at Helmsley Castle. It's been a medieval fortress, a Tudor mansion, a Civil War stronghold and a romantic Victorian ruin. There is a hands-on exhibition in the mansion house, an audio tour and you can enjoy a scenic walk from Helmsley Castle to Rievaulx Abbey.
There is a large pay and display car park (not managed by English Heritage) 20 metres from entrance.