Nyköping Castle is the town's defining landmark — a medieval fortress whose round keep, Kungstornet (the King's Tower), still looms over the Nyköpingsån river. The castle dates from the early 13th century and was developed over generations as a royal residence and administrative centre. Most of the original buildings were destroyed in a fire in 1665, leaving the tower largely isolated among later reconstructions, but the ruin has a quiet authority that a fully intact castle might not.
The tower and adjoining buildings now house the Sörmland Museum. You can climb the tower for views over the river estuary and the town's wooden houses. The surrounding grounds are open freely, and the riverbank walks on either side of the castle make for a pleasant circuit even if you skip the museum interior.