It stands on high ground approximately 300 feet above the Laira estuary of the River Plym and provides views over long distances: to the north across Dartmoor, to the east and south-east across the South Hams.

[9] In the Book of Fees (c.1302) Nicholas le Bastard is listed as holding Eppeford from the honour of Plympton.

In 1345, during the reign of King Edward III (1327–1377),[9] Efford became the property of Roger Whitleigh, who had succeeded (for reason unknown) Sir Baldwin Bastard (d.1345).

[14] The last in the male line was Richard II Whitleigh, grandson of John Whitleigh and Isabel Reprin, who left two daughters and co-heiresses: Richard III Hals, who married Jone Whitleigh the heiress of Efford, was a great-grandson of John Hals (fl.1423) of Kenedon (son of John Hals of Lavant in Cornwall[18]), a Justice of the Common Pleas and in 1423 a Justice of the King's Bench.

Richard Hals of Philleigh in Cornwall, his nearest male relative and heir presumptive, he decided to disinherit him,[25] in "disregard of feudal claims".

His son by Rebecca Hals was Sir Harry Trelawny, 5th Baronet (1687–1762), an aide-de-camp to the Duke of Marlborough and Member of Parliament.

[32] An "Abstract of title of the trustees under the will of William Clark to the manor of Efford, Eggbuckland" dated 1867 survives in the Plymouth and West Devon Record Office.

Efford Fort (at 50°23′26″N 4°5′32″W / 50.39056°N 4.09222°W / 50.39056; -4.09222) was one of the ring of Victorian Palmerston's Follies built to provide defence from risk of French invasion.

This is memorialised by the naming of a part of Efford as Little America, where an estate of American-supplied pre-fabricated houses was built from 1945 onwards.