Upnor Castle was built in the 1550s on orders of Elizabeth I to protect the English fleet and the Chatham dockyards. It was never sacked and has been in uninterrupted naval use until the end of WWII when it was turned into a museum. It is an absolutely delightful place to visit with family.
In June 1667 Upnor Castle got tested during the Dutch raid on the Medway. Despite having been neglected for many years, it stood its ground and, although it could not prevent what was a crippling damage to the English fleet, it did stop the Dutch from getting through to the Chatham dockyards.

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