Tuckenhay Mill House

Paignton Zoo covers 80 acres of animal enclosures and gardens, and most families spend a full day here. You can follow the four zones (Wetlands, Islands, Grasslands and Rainforests), catch the daily talks and feeding sessions, and wander through nature trails in Clennon Gorge wildlife reserve.

Tip: Book tickets online ahead of your visit to save money.

Woodlands is a family-owned, all-weather theme park on the A3122, about 5 miles from Dartmouth in South Devon. It covers over 90 acres, with 16 rides, around 500 animals and several play zones, each with its own rides and attractions. There are water rides, a zoo farm and a falconry display with over 50 birds of prey.

Tip: Not every ride runs every day, so check the park's website for opening times and which rides are open before you set off.

Dartmoor Zoological Park is a 33-acre zoo just north of Sparkwell, on the south-west edge of Dartmoor in Devon. It is run by a charity that focuses on conservation, education and research, and it belongs to BIAZA, the British and Irish Association of Zoos and Aquariums.

The National Marine Aquarium sits in Sutton Harbour, near the Barbican in Plymouth. It is run by the Ocean Conservation Trust, a charity, and is split into four zones: Plymouth Sound, Eddystone Reef, Atlantic Ocean and Blue Planet. You'll see local sharks, rays and octopus, a jellyfish exhibit, and a huge Atlantic tank holding around 1,000 Caribbean fish, with lemon and sand tiger sharks.

Tip: Pre-book your tickets online, as entry can't be guaranteed without a booking, especially at weekends and in school holidays.

Totnes Castle is one of the best preserved Norman motte-and-bailey castles in England, standing at the highest point of the hilltop town of Totnes in Devon. It was raised soon after the Conquest, and the stone shell-keep that crowns the mound dates from around the 14th century. It is now cared for by English Heritage.

Greenway was once the holiday home of crime writer Agatha Christie. The house is styled as it looked in the 1950s and is filled with personal collections belonging to Christie and her family, including archaeological pieces, silver, china and books. The National Trust owns it.

Tip: Parking must be pre-booked, so arrange it before you go. You can also arrive by ferry from Dartmouth.

Dartmouth Castle is an English Heritage fortress that has guarded the narrow entrance to the Dart Estuary for over 600 years. It is one of the most beautifully located fortresses in England, with the water all around and fine views out to sea. Its earliest parts date from the 1380s, and it is described as the oldest known purpose-built coast artillery fort in Britain.

Tip: Booking tickets in advance is encouraged, and check for any local road closures on your route before driving.

Kents Cavern is a cave system in Torquay, with a long archaeological story. Visitors walk through a labyrinth of caverns surrounded by rocks around 400 million years old, with stalagmites and stalactites along the way. The caves were once used by ancient humans for shelter, fire-making, tool-making and hunting Ice Age animals, and the tour includes a moment of total darkness.

Tip: Book online to secure your preferred tour time, and arrive at least 15 minutes before it starts. Solo visitors should call ahead, as a tour needs at least two people.