Current owners Sir Thomas and Lady Emma Ingilby announced last year that Ripley Castle Estate, north of Harrogate, would be put on the market.
And now the price tag has been revealed: more than £21 million.
The estate has been held by the same family since the 1300s.
The current owners said in an interview with the Sunday Times that retirement and considerations for adult children influenced the decision to sell.
Sir Thomas and Lady Ingilby told newspapers they had downsized to a five-bedroom Georgian household nearby.
The estate is used as a wedding venue and is noted for its large grounds, lake, deer park, walled garden, hosuce and kitchen garden.
Sold as a whole (for offers over £21 million) or in nine separate lots.
Lot 1 contains Ripley Castle.
The 14th-century Grade I-listed building depicts three different styles of architecture and was constructed over almost five centuries.
The castle sale also includes 165.59 acres of parkland, including a lake and woodland, ornamentals, coffee shop, gift shop and tea room.
“This is the house I still live in.”
Sir Thomas Ingilby, who lived from 1290 to 1352, married heiress Edeline Swenge in 1308/9 and acquired the medieval manor Ripley Castle Estate.
His eldest son, also called Thomas (1310–1369), saved the king from being attacked by a boar on a hunting expedition and was knighted in return with the symbol of the boar's head as his coat of arms.
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The current owner, Sir Thomas, is the 28th generation of Ingilby to live at Ripley Castle.
He inherited the estate at 18 after his father's sudden death in 1974.
Sir Thomas, from York, and his wife have four sons and a daughter.
Mrs Ingilby told the Sunday Times:
“We have been very committed. We have worked hard.
“We want to enjoy our retirement. We want to be more spontaneous.
“You can't be spontaneous when you're tied down two years in advance.”
She told the newspaper that the couple was “absolutely in love” with someone to live at Ripley Castle.
“If you have something like this, you absolutely have to live with it,” Mrs Ingilby said.
“Anyone who steps into Ripley feels a sense of warmth. This is a home that is still lived in.”
The sale of Ripley Castle Estate is being handled by Mark Granger of Carter Jonas in Harrogate.
Please visit the real estate agent's website for more information.