Cheviot Hills

Chillingham Castle is a 13th-century fortress in Northumberland, listed Grade I. It stands on what was once the border between England and Scotland, and was repeatedly attacked and besieged. Edward I stayed here in 1298, and James I in 1617. Inside you can see its grand rooms, including the great hall, and walk through the gardens and grounds. There are lakes and a tearoom too.

Bamburgh Castle is a Grade I listed fortress on the Northumberland coast, built on a crag of volcanic dolerite above the North Sea. It covers nine acres of rocky plateau and is one of the largest inhabited castles in the country.

Tip: Prams and pushchairs aren't allowed in the State Rooms, so bring a baby carrier; there is a free shuttle buggy from the on-site car park up the hill.

Alnwick Castle is the seat of the Duke of Northumberland and has been home to the Percy family since 1307. It began as a Norman stronghold and grew into a major fortress on the Anglo-Scottish border. Inside the keep, the State Rooms include the Library, Drawing Room, Saloon, Dining Room and China Gallery. You can also walk the battlements and see the Victorian Great Kitchen.

Tip: Broomstick Training needs a time-slot ticket, and Alnwick Castle tickets don't include The Alnwick Garden, which has its own website.

Lindisfarne Castle is a 16th-century fort on Holy Island, reached across a tidal causeway. In 1901 Sir Edwin Lutyens turned it into an Arts and Crafts home, and inside you can see the stone vaults of the old Tudor gun battery. Outside, upturned boats serve as sheds, and there's a walled garden designed by Gertrude Jekyll.

Tip: Check the safe causeway crossing times before you travel, then park in the main island car park. The castle is a one-mile walk each way, and the approach is up steep cobbles, so wear sturdy footwear.

The Alnwick Garden is a contemporary garden in the heart of Northumberland, next to Alnwick Castle. It was revived at the turn of the 21st century after years of neglect, and is laid out around a central water cascade. You can lose yourself in the Bamboo Labyrinth, stroll the traditional Ornamental Garden and Rose Garden, or gaze at the Grand Cascade.

Tip: The Poison Garden is only visited on a guided tour, so check the garden's website for tour details before you go.

Floors Castle is the seat of the Duke of Roxburghe, near Kelso in the Scottish Borders. Despite the name it is an estate house rather than a fortress, designed by William Adam in the 1720s and later given its turrets and battlements by William Playfair.

Tip: Different parts of the estate open at different times, so check the Floors Castle website for what is open and how to enter before you set off.

Dunstanburgh Castle is a spectacular ruin on the rugged Northumberland coast, begun in 1313 by Thomas, Earl of Lancaster, a rival of Edward II. It is the largest castle in Northumberland, and its Great Gatehouse is still hugely imposing. You can explore the whole headland, with its towered walls and sheer drops to the sea on the north side.

Tip: Walk in from Craster along the 1.3-mile coastal path, and wear sturdy footwear as it crosses working farmland.

Warkworth Castle is a ruined medieval castle in Northumberland, sitting in a loop of the River Coquet less than a mile from the coast. It was long the residence of the powerful Percy family, and the imposing keep was added in the late 14th century. English Heritage has cared for the site since 1984.

Tip: To visit the Hermitage, go to the castle first to secure your place, as tickets are limited and only sold on the day. Dogs are not allowed at the Hermitage.