Although the settlement of Warkworth in Northumberland dates back to at least the 8th century, the first castle was not built until after the Norman Conquest.
The town and its castle occupied a loop of the River Coquet.
The castle was built at the south end of the town, guarding the narrow neck of the loop.
A fortified bridge also defended the approach to the town.
The surrounding lowland countryside was favourable for agriculture.
When the castle was founded and by whom is uncertain, though traditionally Prince Henry of Scotland, Earl of Northumberland, has been thought responsible.
With civil war in south-west England, King Stephen of England needed to ensure northern England was secure.
To this end, the Treaty of Durham in 1139 between Scotland and England ensured peace.
Under the treaty Henry of Scotland became Earl of Northumbria in exchange for ceding control of the castles at Bamburgh and Newcastle to the English.
Without them Henry would have needed a new seat from which to exercise his authority, and a new castle at Warkworth may have met the requirement.
However, charters show that Henry still controlled Bamburgh Castle after the treaty, and as Warkworth was a modest castle by contemporary standards it may be have been founded by someone else.
Henry died in 1152 and his son, Malcolm (crowned King of Scotland in 1153), inherited his lands.
In 1157 Malcolm travelled to Peveril Castle in Derbyshire, where he paid homage to the new King of England, Henry II.
Malcolm surrendered England's northern counties to Henry, including the castles of Bamburgh, Carlisle, and Newcastle, and probably Appleby, Brough, Wark, and Warkworth, though it is possible that Henry II founded Warkworth Castle in 1157 to secure his lands in Northumberland; other contemporary castles in the area were built for this purpose, for instance the one at Harbottle.

The first mention of Warkworth Castle occurs in a charter of 1157–1164 from Henry II granting the castle and surrounding manor to Roger fitz Richard, a member of a noble Norman family.
It has been suggested that this charter may have used the term castle to describe a high-status residence on the site, possibly dating from the Anglo-Saxon period, meaning Roger may have built the castle.
He owned lands across a wide area, and Warkworth may have been of little significance in the context of his other holdings.
When the Scots invaded Northumberland in 1173, although Roger fitz Richard was in the county Warkworth Castle was not defended by its garrison.
Its defences at the time were described as "feeble".
In 1174 Duncan II, Earl of Fife, raided Warkworth.
The contemporary record does not mention the castle, and instead notes that Warkworth's inhabitants sought refuge in the church.
When Roger fitz Richard died in 1178 his son and heir, Robert fitz Roger, was still a child.
A guardian looked after the family estates until Robert came of age in 1191.
He paid the Crown 300 marks in 1199 for confirmation of his ownership of Warkworth, including the castle.
Substantial building work at Warkworth Castle is attributed to Robert.
A favourite of King John, Robert hosted him at Warkworth Castle in 1213.

Warkworth Castle continued to descend through the family line when Robert fitz Roger was succeeded by his son John in 1214, who was succeeded by his son Roger in 1240.
Roger died in 1249 when his son Robert was one year old, and a guardian was appointed to care for the family's estates: William de Valence, half-brother of King Henry III.
The castle,
characterised by this time by the chronicler Matthew Paris as "noble", remained under the guardianship of Valence until 1268, when it reverted to Robert fitz John.
King Edward I of England stayed at Warkworth Castle for a night in 1292.
 The English king was asked to mediate in a dispute over the Scottish throne and laid his own claim, leading to the Anglo-Scottish Wars.
After the Scottish victory at the Battle of Stirling Bridge in 1297, Robert and his son, John de Clavering, were captured.
They were subsequently released and in 1310 John assumed control of
Although the settlement of Warkworth in Northumberland dates back to at least the 8th century, the first castle was not built until after the Norman Conquest. The town and its castle occupied a loop of the River Coquet. The castle was built at the south end of the town, guarding the narrow neck of the loop. A fortified bridge also defended the approach to the town. The surrounding lowland countryside was favourable for agriculture. When the castle was founded and by whom is uncertain, though traditionally Prince Henry of Scotland, Earl of Northumberland, has been thought responsible. With civil war in south-west England, King Stephen of England needed to ensure northern England was secure. To this end, the Treaty of Durham in 1139 between Scotland and England ensured peace. Under the treaty Henry of Scotland became Earl of Northumbria in exchange for ceding control of the castles at Bamburgh and Newcastle to the English. Without them Henry would have needed a new seat from which to exercise his authority, and a new castle at Warkworth may have met the requirement. However, charters show that Henry still controlled Bamburgh Castle after the treaty, and as Warkworth was a modest castle by contemporary standards it may be have been founded by someone else. Henry died in 1152 and his son, Malcolm (crowned King of Scotland in 1153), inherited his lands. In 1157 Malcolm travelled to Peveril Castle in Derbyshire, where he paid homage to the new King of England, Henry II. Malcolm surrendered England's northern counties to Henry, including the castles of Bamburgh, Carlisle, and Newcastle, and probably Appleby, Brough, Wark, and Warkworth, though it is possible that Henry II founded Warkworth Castle in 1157 to secure his lands in Northumberland; other contemporary castles in the area were built for this purpose, for instance the one at Harbottle.
The first mention of Warkworth Castle occurs in a charter of 1157–1164 from Henry II granting the castle and surrounding manor to Roger fitz Richard, a member of a noble Norman family. It has been suggested that this charter may have used the term castle to describe a high-status residence on the site, possibly dating from the Anglo-Saxon period, meaning Roger may have built the castle. He owned lands across a wide area, and Warkworth may have been of little significance in the context of his other holdings. When the Scots invaded Northumberland in 1173, although Roger fitz Richard was in the county Warkworth Castle was not defended by its garrison. Its defences at the time were described as "feeble". In 1174 Duncan II, Earl of Fife, raided Warkworth. The contemporary record does not mention the castle, and instead notes that Warkworth's inhabitants sought refuge in the church. When Roger fitz Richard died in 1178 his son and heir, Robert fitz Roger, was still a child. A guardian looked after the family estates until Robert came of age in 1191. He paid the Crown 300 marks in 1199 for confirmation of his ownership of Warkworth, including the castle. Substantial building work at Warkworth Castle is attributed to Robert. A favourite of King John, Robert hosted him at Warkworth Castle in 1213.
Warkworth Castle continued to descend through the family line when Robert fitz Roger was succeeded by his son John in 1214, who was succeeded by his son Roger in 1240. Roger died in 1249 when his son Robert was one year old, and a guardian was appointed to care for the family's estates: William de Valence, half-brother of King Henry III. The castle,
characterised by this time by the chronicler Matthew Paris as "noble", remained under the guardianship of Valence until 1268, when it reverted to Robert fitz John. King Edward I of England stayed at Warkworth Castle for a night in 1292.  The English king was asked to mediate in a dispute over the Scottish throne and laid his own claim, leading to the Anglo-Scottish Wars. After the Scottish victory at the Battle of Stirling Bridge in 1297, Robert and his son, John de Clavering, were captured. They were subsequently released and in 1310 John assumed control of
Warkworth Castle