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And while, strictly speaking, glamping in Knights Village is in the grounds of Warwick Castle it was certainly fit for a king or a queen.

Set in a pretty woodland grove on the banks of the River Avon, the luxury tents in the Avenue of Kings have an immediate wow factor.

Inside, a majestic four-poster bed, decorated by a stunning stainedglass effect headboard and swathes of draped fabric, takes centre stage.

The tents also have room for two extra single beds, an oak chair, fulllength mirror and storage chest.

Wooden floors, a choice of lighting and power sockets all add to the luxurious touches.

Your kids will never settle for plain old camping on a cold, flat airbed ever again.

We loved entering Warwick Castle’s 62-acres of grounds, designed by Capability Brown, via a private gate, exclusive to Knights Village guests.

Happily an overnight stay includes free second-day entry into the castle so we had plenty of time to view the magnificent Great Hall.

It is filled with the weapons and armour from the earls of Warwick. The State Rooms include a saddle used by Queen Elizabeth I for hunting during her reign and a bed which Queen Anne may have died in. We then sat for a while on a grassy bank and witnessed The Mighty Trebuchet, billed as the largest working siege machine in the world. It catapults a cannonball 150ft into the air to gasps from the audience. The twice-daily birds of prey display is another crowd pleaser but we were equally thrilled with the chance to study the resident peacocks that roam about freely as DON’T be put off by the 500-plus steps to reach the top of Guy’s Tower – the panoramic views of the castle are spectacular. WHILE at the castle make sure you save enough time to go and look around the historic market town of Warwick. DON’T miss the The Mill and Engine House, a unique example of Victorian innovation and one the earliest hydroelectric power stations in the country. if they own the place. Next up was a change of pace – we were blown away by the dramatic War of the Roses Live action show.

It is staged on a specially constructed arena on River Island.

Once we had chosen our side and pledged our allegiance to the House of York or the House of Lancaster we were treated to a dramatic horseback battle.

The special effects and a convincing cast really hold the audience in this clever telling of historical events. There’s even a striking warrior queen who dazzles and inspires as she thunders by.

New for this year is the family escape room.

Stepping down into the dungeon, as our eyes grew accustomed to the dark, we were faced with a series of clues and puzzles.

We battled against the clock and worked together to set the prisoner free. It was another fun way of bringing the castles history to life, as well as challenging adult brains.

Heading back to the Knights Village, we enjoyed a hearty medieval feast in the banqueting hall. This was followed by interactive evening’s entertainment, including knight’s school and getting up close with birds of prey.

We also had great fun trying our hand at archery.

Then the freedom of an empty field proved too much of a lure for many of the younger guests.

They wore themselves out before bed, charging up and down, reacting to the battles of the day in their princess gowns and knight costumes with replica swords raised high.

As we settled down into our sumptuous beds for the night there was something strangely comforting about the sounds of nature and the echoes of history all around us. FACTFILE: Overnight stays at Warwick Castle start at £156 for a family of four sharing a Warwick Tent – fully set-up, ready to sleep Medieval Warwick tent with water-tight wooden flooring, double bed plus two single beds with mattress, linen bedding including duvets, pillows and sheets, free wi-fi. Includes entry to the castle. For more information go to warwick-castle.com.