Coventry Rocks

Kenilworth Castle Circular Walk

Parks & Walks

Kenilworth Castle Circular Walk is a 6 mile loop trail along The Millennium Way, starting at Kenilworth Castle and taking in some attractive countryside and farmland.

  • Distance: 6 miles
  • Time: Allow 2.5 hours
  • Rating: Gentle
  • Starting Point: Car Park opposite Queen & Castle, CV8 1ND
  • Access: There are no stiles and the walk is dog friendly apart from some farm livestock.

Visit the Millenium Way Website for further details and full access to the waypoints and maps.

This gentle 6 mile circular walk starts at historic Kenilworth Castle and continues across flat farmland & open countryside, with many attractive views.

There is a free car park by the Castle, almost opposite the Queen & Castle pub, but if this is full you can also park at the pay & display Castle car park which is located just off Castle Road (B4103) behind Kenilworth Castle.

For part of the walk, you will enjoy the delights of The Millennium Way where you will be guided by the distinctive black Millennium Way waymarkers.

Points of Interest

Kenilworth Castle - The architecture of the castle spans the Norman to Tudor periods and in spite of its ruination, it’s a magnificent sight, especially in the evening when the setting sun highlights the red sandstone. From the castle, the walk takes you through delightful countryside. Deer Park Farm is named after the royal deer park which once surrounded the castle.

The earthworks of the Pleasaunce - If time permits, having completed the Millenium Way circular, it is worth walking a further 1.5 miles around the castle on the Millennium Trail - details from the castle. You will see stunning views of the castle, pass the Pleasaunce (earthworks for King Henry V’s pleasure house) and ancient lanes.

Visit the Millenium Way Website for further details and full access to the waypoints and maps.

Did you know there are 44 circular walks covering the entire length of the Millennium Way? They range between 3 and 10 miles in length. Visit for the full collection!

Opening Hours


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