Built after the English invasion of South Wales, the castle was originally built by the de Vales, descendants of a knight who had accompanied Robert fitz Martin on his invasion of north Pembrokeshire. The male line died out, meaning that subsequent owners have rotated through the female bloodline. The Walter family of Roch Castle took ownership, from whom Lucy Walter, mistress of King Charles II and mother of the Duke of Monmouth was descended. It was then owned by the families of the Paynters, Allens and Lloyds.
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