St Edmund King and Martyr, Kingsbridge

The church sits right in Kingsbridge town centre, its tower one of those landmarks you spot before you've even parked the car. St Edmund King and Martyr is a proper medieval parish church, built in the 15th century, and it's the kind of place that rewards a proper look around rather than a quick dash through.

Inside, the ceilings are what catch you first - intricate wooden roof work that speaks to the craftsmanship of people who took their time. There's some decent medieval carving dotted about, and if you're interested in local history, the memorials and monuments tell stories of Kingsbridge families going back centuries. The stone floor is worn smooth from generations of footsteps, which is oddly moving.

History buffs will get more from this than casual visitors, but anyone who appreciates solid church architecture will find it worthwhile. It's free to wander in during opening hours, and you'll likely have the place mostly to yourself - nothing like the tourist crush you'd get at flashier attractions.

If you're camping at one of the nearby sites - South Devon Camping at Lower Terawhiti Farm is excellent - the church is basically the heart of the town. You can combine a visit with wandering Kingsbridge's shops and grabbing lunch locally. It's a 10-minute potter around inside, max. Not a destination in itself, but absolutely worth 20 minutes if you're in the area.