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, (54.4935°N 0.7055°W (Mulgrave Castle (Norman 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 (54.5012°N 0.6922°W (Mulgrave Castle (18th-century mansion)) 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.