Willow at Devon Heaven Hideaways

Diggerland is a theme park where children and adults can ride, drive and operate real diggers, dumpers and other full-size construction machinery. The Devon park is in Cullompton, and the whole line-up runs to around 20 rides and drives.

Tip: Check the ride height chart on the Diggerland website before you go, so you know which rides each child can enjoy.

Paignton Zoo covers 80 acres of animal enclosures and gardens, and most families spend a full day here. You can follow the four zones (Wetlands, Islands, Grasslands and Rainforests), catch the daily talks and feeding sessions, and wander through nature trails in Clennon Gorge wildlife reserve.

Tip: Book tickets online ahead of your visit to save money.

Exeter Cathedral has stood at the heart of Devon for nearly a thousand years. Its Norman towers and Decorated Gothic interior are topped by the longest uninterrupted medieval stone vaulted ceiling in the world. Inside you can see the 15th-century Astronomical Clock and an early set of misericords, and guided floor tours and audio guides help bring the building to life.

Tip: Head for the Treasures Exhibition tour or a guided floor tour, both included in standard admission, though floor tours are subject to availability.

Powderham Castle is a fortified manor house six miles south of Exeter, on flat ground beside the Exe estuary. The medieval core dates from after 1390, and the house was extended and altered in the 18th and 19th centuries. It has been home to the Courtenay family, Earls of Devon, for centuries.

Tip: The main public entrance gates are in the village of Kenton, so head there rather than to the castle's other side.

Dartmoor Zoological Park is a 33-acre zoo just north of Sparkwell, on the south-west edge of Dartmoor in Devon. It is run by a charity that focuses on conservation, education and research, and it belongs to BIAZA, the British and Irish Association of Zoos and Aquariums.

Castle Drogo is a country house and mixed-revivalist castle near Drewsteignton, built between 1911 and 1930 and known as the last castle built in England. Edwin Lutyens designed it for Julius Drewe, the founder of the Home and Colonial Stores. It is built of granite and overlooks the Teign Gorge. The castle is Grade I listed and the gardens are Grade II* listed.

Tip: The car park has limited spaces, so if it is full, come back another time rather than parking along the drive, which blocks farm vehicles.

Otterton Mill is a working watermill beside the River Otter, near Budleigh Salterton. A mill has stood here since the Domesday Book, and the old workings are free to look round, with a self-guided tour and the water wheel kept turning. Flour is still milled using traditional methods.

Tip: Well-behaved dogs on leads can sit outside or downstairs in the café, but only assistance dogs are allowed in the farm shop, gallery and upstairs café.

The National Marine Aquarium sits in Sutton Harbour, near the Barbican in Plymouth. It is run by the Ocean Conservation Trust, a charity, and is split into four zones: Plymouth Sound, Eddystone Reef, Atlantic Ocean and Blue Planet. You'll see local sharks, rays and octopus, a jellyfish exhibit, and a huge Atlantic tank holding around 1,000 Caribbean fish, with lemon and sand tiger sharks.

Tip: Pre-book your tickets online, as entry can't be guaranteed without a booking, especially at weekends and in school holidays.