There is a large car park (Mill Road car park) right by the gates of the castle, which has public toilets and plenty of overflow parking. It is £5 to park all day. The car park advertises that it closes at 6pm, but I noticed it was still open at 8pm when I was there.

The castle and grounds close at 5pm, and the old keep at the centre of the castle closes at 4:30 I think.

It was £60 for a family of 2 adults and up to three children to enter for the day and do the grounds, castle and "bedrooms". An adult was £25.

The grounds are quite spacious and there are some benches to sit at to rest or eat. It is quite hilly. I did not see very many rubbish bins anywhere on site, especially not outside.

We did the dry moat tour (no additional cost, runs three times a day including 12:30). It lasted for 45 minutes, took place outside, and the guide was dressed as a medieval soldier. It was excellent - informative, entertaining and engaging. The talk covered the history of the castle and Europe in general, as well as focusing on the castle defences. My children were a little bored by it (ages 5 and 7) but they persevered.

The castle itself has an old section with battlements and so on. The highlight was the children trying on some medieval clothing. The newer section of the castle is more like a stately home. You can see some furniture made for Queen Victoria and many paintings and fireplaces and so on. In this section are also clean toilets and a large cafeteria with plenty of seating.

If your ticket covers the bedrooms, you can see four or five guest bedrooms that are still used today for those staying with the Duke of Norfolk. Quite interesting to see what they're really like. It isn't much extra, so probably worth paying for.

Finally, we visited the gardens, which is a specific part of the grounds. There are some nice fountains and wooden structures. The planting is fairly tropical. Quite nice for 20 minutes or so, but I wouldn't visit specially to see these.

Overall, a lovely day out for the family.

Also, if you can't tell from the pictures, the castle is huge! It's quite like Windsor castle and is still lived in by the Duke of Norfolk and his family.