Brough was the site of the Roman fort Verteris, which was later transformed into a medieval castle. During the 19th century it became an important stop over for stagecoaches.
The now-ruined 11th century Brough Castle lies near St Michael's church. It was severely damaged by Scottish raiders in 1174 but was rebuilt by Lady Anne Clifford in the 17th century. The church dates from 1150 and boasts a Norman doorway.