Stokesay Castle is a beautiful fortified manor house in Shropshire near Craven Arms, close to the Welsh Marches, owned by English Heritage. OS grid reference SO436817 (see map by Streetmap.co.uk).

The yellow building in the photo above is the gatehouse shown at the bottom of this plan of Stokesay Castle, from Gotch's The Growth of the English House (1909):

I would have taken more photos on my first visit, but the light was failing, and more importantly so were my camera batteries. So I returned another time. This group photo taken from near the car park shows the North Tower, Banqueting Hall and South Tower (from left to right):

The South Tower from inside the castle (below, left), and the North Tower from the Church yard next-door:

P.S. The free audio-guide was actually very informative, if a little long perhaps.