Yokosuka Castle was built by Tokugawa Ieyasu as part of the struggle to retake Takatenjin Castle from the Takeda. The castle is now a set of ruins in a quiet park, with earthworks and stone remains rather than a reconstructed tower.
It is a good stop for travellers interested in Sengoku-period history or smaller castle sites around Kakegawa. The appeal is the setting and the story, not dramatic architecture.