Barnstaple Castle was built of wood in the 11th century and the castle's first stone buildings were probably erected in the 12th century. There are not many remains left of the castle other than the tree covered motte remains.
Today Barnstaple is a partly pedestrianised centre, everyday you will find a Pannier Market on. Each day hosting a different set of things to but. my favourite day is Wednesday as its a day collectibles - you can find anything from Silver spoons to Comics.
Interesting places to see are the original Norman Castle wall, the ornate Queen Anne's Walk and the 13th century "Long Bridge". Close to the bridge you will find the museum of North Devon.
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From Barnstaple, you can discover the excellent 180 mile "Tarka Trail" walk. Alternatively you can take the easy option and take the trip by rail along the scenic Tarka Line.