Totnes sits at the highest navigable point on the River Dart and was therefore a natural location of the Norman keep that is Totnes Castle. Even today the castle and two of the town gates can still be viewed in the town, as well as some of the old walls.
There is a fine historical atmosphere in the town; running between the castle and the River Dart is the High Street, lined with numerous Elizabethan bow-windowed shops and houses. Part way down the High Street hill, bridging the road, is the Eastgate, now reconstructed following a fire but giving a good backdrop to this main shopping street in the town.