Mulgrave Castle is a ruined medieval stronghold hidden in woodland west of Whitby, on the Mulgrave Estate near Sandsend. The surviving walls are fragmentary, but the walk through the estate gives the ruins the atmosphere that many more complete castles lack.
Access depends on public footpaths and estate conditions, so check the route before setting out and expect a walk rather than a quick roadside stop. It pairs naturally with Sandsend, Whitby, or a quieter day away from the harbour crowds.