Tickhill Castle, which is only open to the public one day a year, is now on the market – with a guide price of between £2m and £2.5 million.
The six bedroom property is described as ‘exceptional’ by estate agents Carter Jonas and also boasts six acres of grounds.
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The firm’s brochure says: "The story of Tickhill Castle stretches back over many centuries and as early as the 11th Century.
"Tickhill Castle is one of the oldest Norman Motte and Bailey Castles of the 11th Century and was the first structure referred to in Parliament as an Ancient Monument. The Castle was built by Roger de Bulsi, a favourite Baron of William the Conqueror and referenced in the Domesday Book.
"The sale of Tickhill Castle offers an extremely rare opportunity to acquire an historic scheduled Ancient Monument steeped in a fascinating history, currently held on Lease to the Duchy of Lancaster, an estate owned by the Queen.
"The property has been the subject of a lengthy and painstaking restoration project by the current occupants, now forming a fantastic family house with grand reception rooms and bedrooms together with modern amenities complemented by a wealth of original character features.
"Over the past 300 years the land inside the Castle has been landscaped and meticulously maintained and involved the construction of the terrace along the north wall. The grounds are completely private and enclosed by the 12th Century curtain wall, principally lawned but with a wealth of mature specimen trees.
"The primary access to the Castle is through the late 11th Century gatehouse, creating a unique and spectacular entrance into the property. Sweeping gravelled driveways lead around to the east of the property where there is ample parking for numerous vehicles and there is also a double garage to the west with ample space for additional garaging if required, subject to obtaining the necessary planning approval.