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Denton Castle was built after 1088, following the Norman invasion of England, probably by William d'Albini, who linked his estate at Denton to that at Buckenham, where he also built a castle.
After the Norman invasion of England and Wales in the late 11th century, a small castle was built at Pont Hedre, close to the site of the current castle, by either Roger de Lacy or Pain fitzJohn in order to protect the river crossing there.