Heighley Castle (or Heleigh Castle) is a ruined medieval castle near Madeley, Staffordshire. The castle was completed by the Audley family in 1233 and for over 300 years was one of their ancestral homes. It was held for Charles I during the English Civil War and was destroyed by Parliamentary forces in the 1640s. The ruinous remains comprise masonry fragments, mostly overgrown by vegetation. The site is protected by Grade II listed building status and is a Scheduled Ancient Monument.