Warkworth Castle is a ruined medieval castle in Warkworth in the English county of Northumberland. The village and castle occupy a loop of the River Coquet, less than a mile from England's north-east coast. When the castle was founded is uncertain: traditionally its construction has been ascribed to Prince Henry of Scotland, Earl of Northumbria, in the mid-12th century, but it may have been built by King Henry II of England when he took control of England's northern counties. Warkworth Castle was first documented in a charter of 1157–1164 when Henry II granted it to Roger fitz Richard. The timber castle was considered "feeble", and was left undefended when the Scots invaded in 1173.
Roger's son Robert inherited and improved the castle. Robert was a favourite of King John, and hosted him at Warkworth Castle in 1213. The castle remained in the family line, with periods of guardianship when heirs were too young to control their estates. King Edward I stayed overnight in 1292 and John de Clavering, descendant of Roger fitz Richard, made the Crown his inheritor.