Helmsley Castle

Helmsley Castle is a medieval castle situated in the market town of Helmsley, North Yorkshire, England.

The castle was first constructed in wood around 1120 by Walter l'Espec. Walter had no children and on his death in 1154 the castle passed to his sister Adelina who had married Peter de Roos. In 1186 their son Robert de Roos began work on converting the castle to stone. He built the two main towers, the round corner towers and the main gateway on the south side of the castle.