The castle was completed by the Audley family in 1233 and for over 300 years was one of their ancestral homes.
It was held for Charles I during the English Civil War and was destroyed by Parliamentary forces in the 1640s.
The site is protected by Grade II listed building status and is a Scheduled Ancient Monument.
The castle is on Historic England's Heritage at Risk Register and described as being in 'very bad' condition.
He endowed the nearby Cistercian Abbey of St. Mary at Hulton in 1223, and donated to it a large amount of land, some of which was an inheritance from his mother and some of which was purchased.