Pickering Castle is a motte-and-bailey fortification in Pickering, North Yorkshire, England.

Pickering Castle was originally a timber and earth motte and bailey castle. It was developed into a stone motte and bailey castle which had a stone shell keep. The current inner ward was originally the bailey, and was built between 1180 and 1187. The keep was developed into a stone shell keep sometime during the years 1216 to 1236 along with the chapel – there is a reconstruction of the chapel at the site. Between the years 1323 and 1326 there was an outer ward and curtain wall built, along with three towers. There were also two ditches, one situated outside of the curtain wall and one in the outer ward. After this a gatehouse, ovens, hall and the storehouses were built. The castle is situated in the Vale of Pickering and has a considerably steep cliff on the west side which would have been a great defensive attribute.

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