This is the closest castle to Tokyo. Originally built in the mid-15C, it has been transformed several times. It served as Toyotomi Hideyoshi's headquarters during the siege of Odawara in 1590. Destroyed in 1870, it was partially rebuilt in 1960, and today you can see the four-storey keep, where an illustrated museum trail charts the history of the site. On the top floor, an observation platform offers a fine view of Sagami Bay and the town.