Tamworth Castle is a typical Norman motte and bailey castle thought to date from the 1180's. Since then numerous additions and alterations have been made to the Castle by succeeding generations of owners. The oldest surviving section within the Shell-Keep, apart from the Tower itself, is the north wing.

The Banqueting Hall added in the early 15th century, and the Warder's Lodge at the entrance to the Courtyard is Tudor. Unfortunately the Castle was much neglected in the 18th century, but between 1783 and 1811 extensive alterations were made.

There has been some confusion over the identity of the castle's first Lord. There is evidence that it was held by both Robert de Despencer and Robert Marmion. Robert de Despencer evidently left no male heir so either a daughter or a niece married into the Marmion family. But as the name Despencer means Steward it is now believed that they may have been the same person. Marmion had performed the office of Champion to William the Conqueror and the gi