In the aftermath of the Norman Conquest in 1066, the lands in the West Midlands remained in the hands of Earl Edwin of Mercia. In 1070, however, he was involved in an unsuccessful rebellion against King William. As a consequence he forfeited his estates (and his life). The estates were divided amongst William's followers.
Ansculf of Picquigny benefited from this division & received the estate of Dudley. He built a fortification of earth & timber called a Motte & Bailey Castle, first mentioned in the Doomsday survey of 1086.
In the 16th Century John Dudley (whose father was executed by Henry VII) took possession of the castle and embarked on a programme of rebuilding, the result of which is now known as the Sharrington Range, after the architect.
On the death of Henry VIII in 1547 & the accession of his son Edward VI, John Dudley became protector of the young king. The reign was short & in 1553 Edward's death left the throne open to the accession of Henry's eldest daughter Mary.
With Mary's strong adherence to the Catholic faith her accession posed a threat to Henry's religious reformation. John Dudley attempted to prevent this by conspiring to place his daughter-in-law, the Lady Jane Grey, upon the throne. Her claim was slight and the plot rapidly foundered. John's fellow conspirators deserted him & he was forced to surrender himself to the mercy of Mary. However, no mercy was shown & he, his son, & the Lady Jane Grey were all executed.
In 1575 Queen Elizabeth I visited Dudley Castle but despite the magnificence of the occasion the castle was already in decline.