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The castle was founded soon after the Norman Conquest of 1066 by William de Warenne, the first Earl of Surrey, as his most important estate in Norfolk.
He claims that Roger of Mortemer was the brother of "William, later to be Earl of Surrey".
From 1194, during the reign of King Richard I, Herriard appears regularly as a royal justice, along with Richard Barre, William of Sainte-Mère-Eglise, Ralph Foliot, and William de Warenne.
Earl Warenne, Lord of the Manor of Wakefield built a church in the Norman style in 1106.
Waleran de Beaumont, 4th Earl of Warwick (1153 – 12 December 1204) was the younger son of Roger de Beaumont, 2nd Earl of Warwick and Gundred de Warrenne, daughter of William de Warenne, 2nd Earl of Surrey and Elizabeth de Vermandois.
William de Warenne, 2nd Earl of Surrey (died 11 May 1138) was the son of William de Warenne, 1st Earl of Surrey and his first wife Gundred.
William de Warenne, 3rd Earl of Surrey (1119–1148), was the eldest son of the William de Warenne, 2nd Earl of Surrey and Elizabeth de Vermandois.
In March 1217 he again demonstrated his loyalty to England by supporting the young King Henry III, he was also responsible for the establishment of Salisbury Cathedral.