Beautifully sited on the fringe of Dartmoor, Lydford boasts three defensive features. Near the centre is a 13th century tower on a mound, built as a prison. It later became notorious for harsh punishments, with one of its inmates calling it 'the most annoious, contagious and detestable place within this realm'. To the south is an earlier Norman earthwork castle and to the north, there are Saxon town defences. Dogs on leads are welcome.