The unusual remains of Burleigh Castle stand half a mile east of Milnathort immediately to the north of the A911, which curves around the side of the castle. This corner makes parking safely rather tricky, but it is possible to leave your car clear of the road.
The grounds of the castle are accessible at all reasonable times. A sign on the door of the south west tower tells you where to find the keys that allow you to explore the interiors of both towers.
The origins of Burleigh Castle date back to 1446, when the lands hereabout were granted to Sir John Balfour of Balgarvie by James II. Some time soon afterwards the Balfour family built a tower house here, and this forms the basis of the north tower you can see today. It is likely that this first tower house stood on the west side of a courtyard surrounded by an enclosing barmkin wall, in which there would have been other buildings. Immediately to the west there is still a dip in the land that suggests there may also have been a defensive ditch or moat.