The beginnings of Penrith Castle began in 1399. William Strickland, later Bishop of Carlisle and Archbishop of Canterbury was granted a license in 1397 to crenellate the castle. A stone wall was added to an earlier pele tower as a defense against the Scottish raids. In 1419, Ralph Neville, First Earl of Westmoreland inherited Penrith Over the next 70 years, additions and improvements were made to the castle. A walled quadrangular castle was built but without the customary angle towers. Strickland's Tower, the original tower house, flanked the castle's entrance on the northeast front. Ralph Neville added the Red Tower and a new gatehouse on the northeast.
In July of 1471, the castle came into the possession of Richard, Duke of Gloucester as part of the Warwick inheritance. Richard added the banquet hall along with other additions. By 1672, the castle was in ruins. Orders were given to repair the castle but during the Civil War, it suffered heavy damage. Today, the castle is in the hands of English Heritage with the remaining areas of the walls and foundation intact.
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