Compton Castle near Paignton is a fortified manor house that has been home to the Gilbert family since the mid-14th century. John Gilbert added the fortress-like front, with its two portcullises and high curtain walls, around 1520, and Sir Humphrey Gilbert, half-brother of Sir Walter Raleigh, sailed from here in 1583 to claim Newfoundland for Elizabeth I. The hall was in ruins by the 18th century, until a descendant bought the castle back in 1931 and gave it to the Trust in 1951 on condition the family stayed, as they still do. Visitors see the Great Hall, chapel and kitchen, then the knot and rose gardens and an orchard where dogs on short leads are welcome; children get a nature trail, garden games and costumes to try on. Reviewers find it small, with few rooms open, but praise the knowledgeable staff and the garden. Tips from visitors: park free at the Castle Barton tea room opposite, as there is no parking at the castle, and the lanes in are narrow.