Pickering's strategic importance was not lost on William the Conqueror. He chose a commanding position overlooking the town to build a motte and bailey castle, as a defence against the Scots.

From the top of the motte, it would have been possible to see great distances: south across the vale of Pickering and north to Whitby, and along the valley road from Scarborough in the east to Helmsley in the west.

Future Kings consolidated this position, with Henry III adding the inner courtyard and stone towers, and the curtain wall and towers being added by Edward II in 1323-26 .

Then life in Pickering wasn't just concerned with fending off the Scots. The surrounding royal forests were first class hunting country, and favoured by many English kings. So the castle was also used as a centre for administering the hunting rights of the area.