Richard Foster takes off for a day out at Fort Paull, the historic fort near Hull.

What and where: Fort Paull, east of Hull, overlooking the Humber estuary.

Why? Set in about ten acres, Fort Paull, with its 500 years of history, provides a grand day out.

The first fort was built in 1542 as part of Henry VIII's ambitious programme to improve England's coastal defences.

The present fort, the fourth on the site, was built in 1864 when Victorian pomp was reaching its zenith. Fort Paull was garrisoned until 1950. After the Ministry of Defence left, the scheduled ancient monument was allowed to decay until volunteers set about restoring it.

Adults and children alike will be fascinated by the complex of underground rooms and tunnels where exhibits, featuring waxworks, illustrate various eras, including the Crusades, the Tudors, the English Civil War, the Napoleonic War and both world wars. Exhibits include WRNS (female naval personnel) monitoring Second World War shipping convoys, a barbaric dentist and a gruesome hospital.

Various military vehicles and artillery pieces are dotted about the fort and its embankments offer superb views of the estuary. They make ideal picnic areas. The fort's most impressive exhibit is the world's only remaining Blackburn Beverley transporter, built at nearby Brough.

After Beverley's Military Transport Museum closed, the aircraft was transported, in pieces, to Fort Paull on a low-loader where volunteers rebuilt it.

Fort Paull hosts numerous events, including car rallies and historical re-enactments.

More info: Visit www.fortpaull.com for details.

Refreshments: Dukes of York bar and caf; the Berliner tea rooms.

Family friendly? There's a play area for children under the age of 12. Dogs are not permitted within the fort, except guide dogs. Toilets.

Opening times: Summer, 10am to 6pm (last entry 4pm).

How much? Adults £4.50; children and concessions £3; family ticket (two adults and two children) £12.

Parking: Plenty and free.

Directions: From York, take the A1079 to Hull, then take the A1033 through city towards Hedon, and follow the brown tourist signs for Fort Paull.

Anything else worth visiting? After visiting Fort Paull, it makes sense to do the 30-minute drive to Spurn Point where a strip of sand, with its lighthouse and lifeboat station, separates the North Sea from the Humber.