Taunton Castle is a castle built to defend the town of Taunton, Somerset, England. It has origins in the Anglo Saxon period and was later the site of a priory. The Normans then built a stone structured castle, which belonged to the Bishops of Winchester. The current heavily reconstructed buildings are the inner ward, which now houses the Museum of Somerset and the Somerset Military Museum. The building was designated a grade I listed building in 1952.

Taunton is the county town of Somerset, England. It is a market town and has a minster church. Its population in 2011 was 64,621. Its thousand-year history includes a 10th-century monastic foundation, Taunton Castle, which later became a priory. The Normans built a castle owned by the Bishops of Winchester. Parts of the inner ward house were turned into the Museum of Somerset and Somerset Military Museum. For the Second Cornish uprising of 1497, Perkin Warbeck brought an army of 6,000; most surrendered to Henry VII on 4 October 1497. On 20 June 1685 in Taunton the Duke of Monmouth crowned himself King of England in a rebellion, defeated at the Battle of Sedgemoor. Judge Jeffreys led the Bloody Assizes in the Castle's Great Hall.