5-Bedroom Hot Tub Cottage in Grosmont

Goodrich Castle is a ruined medieval fortress on a rocky sandstone outcrop above the River Wye, near Ross-on-Wye. Begun after the Norman Conquest, it grew into a stone castle with a square keep, big corner towers and a gatehouse with a barbican. William Wordsworth called it the "noblest ruin in Herefordshire".

Tip: Book advance tickets online through English Heritage, and pick up the family game from the ticket office when you arrive.

Raglan Castle sits just north of the village of Raglan in Monmouthshire, south east Wales. Built and rebuilt between the 15th and early 17th centuries by the Herbert and Somerset families, it was once a luxurious, fortified home, and its large hexagonal keep is known as the Great Tower or the Yellow Tower of Gwent.

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.

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.

Puzzlewood is an ancient woodland site near Coleford in the Forest of Dean, covering 14 acres. Over a mile of pathways, laid down in the early 19th century, wind through strange rock formations, secret caves and ancient trees. The paths make a confusing maze, so expect to take a few wrong turns.

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.

Gloucester Cathedral is one of Britain's greatest buildings, with a history stretching back to around 679. Inside you can see the giant pillars of the Norman Nave, intricate fan vaulting (a style invented here in the 1300s) and the grand tomb of Edward II.

Tip: Well-behaved dogs are welcome Monday to Saturday, but only assistance dogs are allowed on Sundays, in the Lady Chapel and on guided tours.

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.