The Community Assembly of Totnes Castle is located on a prominent hill known as a 'ness' which is Old English for headland or nose of land. It overlooks the River Dart and is home to a classic Norman motte-and-bailey castle, raised soon after the Conquest at the highest point of the hilltop town of Totnes. The surviving stone keep and curtain wall date from around the 14th century. SInce the Norman Conquest of 1066, it was the caput of the feudal barony of Totnes.

The first castle was built by the Breton, Juhel of Totnes, who was one of William the Conqueror's lieutenants. The feudal barony of Totnes was granted to him in 1068, and to cement his position, he constructed a fortification and founded Totnes Priory within the town. This first construction probably consisted of a wooden palisade and tower, although on the death of King William I, Juhel lost his lands due to his support for the Rebellion of 1088. The feudal barony of Totnes was then granted to Roger de Nonant, whose descendants held the position for the next three generations.

By 1326, the castle had fallen into ruin and was owned by the De la Zouch family. During this period, a royal order was made for it to be re-fortified with a new shell keep using Devonian limestone and red sandstone. A stable was constructed and a constable appointed until, following the Wars of the Roses, it once again fell into disrepair. 

Today, Totnes Castle is owned by the Seymour family (Dukes of Somerset) and has been in their possession since the late 16th century. The site is under the care and management of English Heritage who have managed the castle since 1984, maintaining it as a place of historical interest and a tourist attraction.

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