Penrith Castle was built on the site of a former Roman fort, at the end of the 14th century, to defend the border region against marauding Scots. Following the death of Richard Neville (‘the Kingmaker’), 16th Earl of Warwick, in 1471, the castle was granted to Richard, Duke of Gloucester. As the sheriff of Cumberland, living at the castle, he carried out alterations to transform it into a more comfortable residence. 

When he became King Richard III in 1483, it was no longer used as a place to live and by the 16th century has become partially derelict. In 1648, after use as a headquarters during the English Civil War by the Parliamentarian general, John Lambert, it was further dismantled and allowed to decay. The Grade I listed ruin now stands as the centre piece of a public park.