When William the Conqueror arrived in England in 1066 he gave Milton and Gidcott and thirteen other manors in Devon, to a man named Robert de Alba Marla.
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The parish, which lies about six miles east of the town of Holsworthy has part of its eastern boundary formed by the River Torridge, and it is surrounded clockwise from the north by the parishes of Milton Damerel, Shebbear, Black Torrington, Ashwater, Cookbury and Thornbury.
The parish, which lies about 5.5 miles north of the town of Holsworthy, is surrounded clockwise from the north by the parishes of West Putford, Abbots Bickington, Milton Damerel, Holsworthy Hamlets and Bradworthy.