mulgrave castle refers to one of three structures on the same property in lythe, near whitby, yorkshire, england. one of these, known as the "old" or "ancient" castle, was by legend founded by wada, a 6th-century ruler of hälsingland. the second castle, () "caput" of the feudal barony of mulgrave, was of norman construction and remained active until destroyed by order of parliament in 1647. the third is a country house () which was constructed by lady catherine darnley and passed in 1718 by marriage into the phipps family, when her daughter lady catherine annesley married william phipps. the phipps family later held the titles of baron mulgrave, earl of mulgrave and marquess of normanby.