The early motte and bailey castle was built of the site of a wooden fortification set up by Ethelfreda, daughter of Alfred the Great.
The Norman castle was built by Robert de Marmion, the first Champion of the King of England, an important title that was passed on to his descendants.
The shell keep was constructed on top a great mound and the red sandstone rubble walls are up to 7 feet thick. A wall connects the castle to the town.
In the following years the keep was occupied with hardly any interruption. As a result much restoration and rebuilding was carried out.
In the 15th century when the castle passed from the Marrions to the Ferrers the original inner buildings had been completely replaced.
Today most of the interior buildings are of brick and date from the 16th to 18th centuries. When the Marquis Townshend decided to sell the castle in the 1890's the Tamworth Corporation purchased it to commemorate Queen Victoria's Diamond Jubilee in 1897. The castle was opened to the public two years later.
The impressive open roofed banqueting hall is of Tudor construction and has splendid panelling and carving of the 16th century. The motte top is now occupied by a 17th century house surrounded by the 12th century enclosure wall. The bailey is protected by a 13th century gatehouse and a later bridge.
The woodlands that once surrounded the castle have been replaced by coal mines and industrial activity.
The striking Aethelflaeda Monument in the grounds of Tamworth castle was erected in 1913 to celebrate the 1000 anniversary of Aethelflaeda's victory over the Danes and the construction of the original fortress in the town.
The Castle Pleasure Grounds extend for some distance along the banks of the River Anker and at some times of the year over 100 swans can be seen here. The gardens include beautiful floral terraces, a picnic area and adventure playgrounds.
The Moat House, located within the grounds of Tamworth Castle, was built in 1572 by William Comberford as a family home. When King James I stayed at Tamworth Castle in 1619, his son (later Charles I) stayed at the Moat House. In 1815 the property became a lunatic asylum. Today the Moat House is a family restaurant.