Timberdyne

Ludlow Castle is a partly ruined medieval fortress in the Shropshire market town of Ludlow, standing on a high promontory above the River Teme. Probably founded around 1075, it was one of the first stone castles built in England and later became the seat of the Council of Wales and the Marches.

Tip: There is no parking at the castle itself, so plan to park in the town and walk in.

West Midlands Safari Park, near Bewdley in Worcestershire, combines a drive-through safari with walk-through animal areas and an adventure theme park. The four-mile Safari Drive takes you past lions, giraffes, rhinos, tigers and more, including white lions and cheetahs, with the cheetah reserve billed as the UK's largest drive-by one.

Stokesay is a moated, walled manor house near Craven Arms. Though it looks like a castle, it was really a lightly defended mansion, with work completed by 1291. The stone hall and solar block sit behind two stone towers, and the hall keeps its 13th-century wooden-beamed ceiling. The timber and plaster gatehouse at the entrance dates from the 17th century.

Tip: Book advance tickets online through English Heritage, and finish with a break in the tearoom, which is open to all and welcomes dogs.

Croft Castle is a castellated 17th-century manor house that has been the home of the Croft family for many centuries. Inside, you can look round the castle rooms, while outside there are colourful herbaceous borders, a secret garden and a walled garden with a small working vineyard, historic apple trees and a glasshouse.

Tip: Dogs on leads are welcome in the garden and parkland but not in the house. Satnav users should enter HR6 0BL, as the National Trust recommends.

Clun Castle is a ruined Welsh border castle on a rocky mound beside the River Clun, on the edge of the small, picturesque town of Clun. Founded shortly after the Norman Conquest, it still has its tall 13th century keep, which unusually sits on the side of the mound, along with extensive earthworks to wander around.

Tip: Wear sturdy footwear as the grounds have steep slopes and uneven ground; there is a free car park next to the castle, with toilets, reached by a footbridge with steps.

Eastnor Castle is a 19th-century mock castle in Herefordshire, built between 1811 and 1820 to the designs of Robert Smirke, later the main architect of the British Museum. It was made to look like one of the medieval castles guarding the Welsh borders, and it is still a private home, with tours open to the public in certain months of the year.

Tip: The castle is only open for tours in certain months, so check before you set off.

Worcester Cathedral rises above the River Severn and has been a place of worship for fourteen centuries. The present building was begun in 1084 and is Grade I listed. Inside you will find a Romanesque crypt, a chapter house dating from 1120, medieval misericords and a central tower completed in 1374.

Tip: Join a guided tour if one is running, as visitors rate the library tour highly. Summer holidays can be busier.

Pitchford Hall is a Grade I listed Tudor country house about six miles from Shrewsbury, built around 1560. Its timber-framed, black-and-white look is striking, and the estate has an orangery and walled garden. Queen Victoria stayed here as a young princess, and during the Second World War the house was chosen as a possible retreat for the royal family.

Tip: Tours of the hall, grounds and treehouse need to be booked in advance through Invitation to View.