Pen Y Banc

Hay Castle is a medieval fortification with a 17th-century mansion alongside, right in the centre of the book town of Hay-on-Wye. Founded by the Normans and rebuilt in stone around 1200, it has been attacked and burnt several times over the centuries.

Tip: Use the large public car park off Oxford Road, which has free electric vehicle charging points. Dogs must stay on a lead, and are welcome on the ground floor, in the café and in the grounds.

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.

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.

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.

Llanthony Priory is a partly ruined Augustinian priory in the secluded, steep-sided Vale of Ewyas, in the Black Mountains area of the Brecon Beacons National Park. Founded around 1100, it became the first priory of Canons Regular in Wales and grew into one of the great medieval buildings of the country, mixing Norman and Gothic styles. The main ruins are cared for by Cadw.

Tip: The priory is about seven miles north of Abergavenny on the old road towards Hay-on-Wye, so allow time for the winding valley drive.

Wales Ape and Monkey Sanctuary sits between Caehopkin and Abercraf in Powys. It began as a hill farm and grew into a final home for unwanted primates, including chimpanzees, baboons, spider monkeys, capuchins and marmosets. Its first chimpanzees arrived in 1999, when seven were taken in from Penscynor Wildlife Park after it closed.

Big Pit is a real coal mine and one of Britain's leading mining museums, standing on the heather-clad moors above Blaenavon. It worked as a colliery from 1880 to 1980 and opened to the public in 1983. The star attraction is the Underground Tour, which takes you 300 feet down with a real miner to see what life was like for the men who worked the coal face.

Tip: Underground tour places on the day aren't guaranteed a time slot and queues can build when busy, so book a timed Job-A-Knock ticket in advance to secure your spot.