Middleham Castle is a ruined castle in Middleham in Wensleydale, in the county of North Yorkshire, England. It was built by Robert Fitzrandolph, 3rd Lord of Middleham and Spennithorne, commencing in 1190. The castle was the childhood home of King Richard III, although he spent very little of his reign there. The castle was built to defend the road from Richmond to Skipton, though some have suggested the original site of the castle was far better to achieve this than the later location. After the death of King Richard III the castle remained in royal hands until it was allowed to go to ruin in the 17th century. Many of the stones from the castle were used in other buildings in the village of Middleham.

Middleham is a market town and civil parish in the district and county of North Yorkshire, England. It lies in Wensleydale in the Yorkshire Dales, on the south side of the valley, upstream from the junction of the River Ure and River Cover. There has been a settlement there since Roman times. It was recorded in the 1086 Domesday Book as Medelai, meaning "middle ham or village".