Rosy-hued Dunster Castle crowns a densely wooded hill. Built by the Luttrell family, which once owned much of northern Exmoor, the oldest sections are 13th century, while the turrets and exterior walls are 19th-century additions. Look out for Tudor furnishings, 17th-century plasterwork and a ridiculously grand staircase. Leave time to explore the colourful terraced gardens, which feature riverside walks, a working watermill and views across Exmoor’s shores.