Tutbury Castle is a largely ruined medieval castle at Tutbury, Staffordshire, England, in the ownership of the Duchy of Lancaster and hence currently of King Charles III. It is a scheduled monument and a Grade I listed building. People who have stayed in the castle include Eleanor of Aquitaine and Mary, Queen of Scots, who was a prisoner there.

Tutbury Castle became the headquarters of Henry de Ferrers and was the centre of the wapentake of Appletree, which included Duffield Frith. With his wife Bertha, he endowed Tutbury Priory with two manors in about 1080. It would seem that Tutbury at that time was a dependency of the Norman abbey of St Pierre‑sur‑Dives.

William de Ferrers, 3rd Earl of Derby joined a rebellion against Henry II in 1173–74 and Tutbury Castle was one of at least twenty castles belonging to the rebels that were slighted.

The castle was "nearly destroyed" by Prince Edward in 1264 after the rebellion of Robert de Ferrers, 6th Earl of Derby. In 1269, after a further rebellion the lands were given to Edmund Crouchback and have remained part of the Duchy of Lancaster.

By the 1300s the castle was largely repaired, though as a residential castle rather than a military strong-point.

Some time before 1370 the castle was even more substantially rebuilt again by John of Gaunt. From 1372 until her death in 1394, the castle was the permanent residence of Constance, the wife of John of Gaunt. Her court lavishly patronised music and the arts, and was said to have "somewhat similar to a modern Windsor" in its ambition.

In June 1568, Mary, Queen of Scots was at Carlisle Castle after fleeing from Scotland after her defeat at the battle of Langside, and the English Privy Council decided to lodge her either at Nottingham Castle, Fotheringhay Castle or Tutbury, so that she was further from the Scottish border or Yorkshire. In January 1569 the Scottish Queen was taken from Bolton Castle, going first to Ripon and staying a night nearby, then to Wetherby staying a night with John Vavasour at Hazlewood Castle, then on to Pontefract, Rotherham, Chesterfield, and Wingfield Manor. George Talbot, 6th Earl of Shrewsbury was given detailed instructions for keeping Mary, which permitted him to lodge her at Sheffield from time to time (which he preferred), and briefed him on what he should say to her regarding her political predicament.

Tapestries, furniture, and bedding were sent from the Royal Wardrobe at the Tower of London to furnish Tutbury, but because of delays caused by poor weather Bess of Hardwick was asked to send her things from Sheffield. This left the Earl's houses at Sheffield unfurnished, so Mary had to go to Tutbury. She arrived on 4 February 1569. She noted the castle was like a hunting lodge, with its enclosure on a slight hill reminiscent of the Bois de Vincennes, and complained of the damp, the wet plaster, and draughty ill-fitting old carpentry. The British Library has a sketch plan of her accommodation at Tutbury.