Before 1070 the site of Okehampton Castle was a simple motte, but late in the eleventh century a stone keep was constructed. The development went on from there so that in the early fourteenth century further buildings were added including kitchens, great hall, chapel and guardrooms. The final result had an enclosure protected by a long wall and steep slopes. For many years it was the luxurious residence of the Courtenay family.

The Norman times saw much violence, but this castle had a rather uneventful history. The most notable event happened in 1539 when Henry VIII beheaded its owner, the Marquis of Exeter. He had been found guilty of an act of conspiracy.

It is interesting that the first castle here was mentioned in the Domesday Book (1086) as the center of the estates of Baldwin de Brionne, Sheriff of Devon. This site is reputedly one of the most extensive castle ruins in the West Country. Today many of the buildings are still in a good state of preservation.