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In 1138, it became the property of Gilbert de Clare, first Earl of Pembroke. Eventually it was given to Jasper Tudor along with the earldom, and he brought his widowed sister-in-law, Margaret Beaufort, to the castle to give birth to her only child, the future King Henry VII of England ( 1457).

Most of the damage to the castle was done during the English Civil War, when its owners changed sides at an inopportune moment. Today the castle is in the care of Cadw and open to the public.