Tower of London (via Wikipedia):
It was founded towards the end of 1066 as part of the Norman Conquest of England. The White Tower, which gives the entire castle its name, was built by William the Conqueror in 1078, and was a resented symbol of oppression, inflicted upon London by the new ruling elite. The castle was used as a prison from 1100 (Ranulf Flambard) until 1952 (Kray twins), although that was not its primary purpose. A grand palace early in its history, it served as a royal residence. As a whole, the Tower is a complex of several buildings set within two concentric rings of defensive walls and a moat. […]
The peak period of the castle's use as a prison was the 16th and 17th centuries, when many figures who had fallen into disgrace, such as Elizabeth I before she became queen, were held within its walls. This use has led to the phrase "sent to the Tower". Despite its enduring reputation as a place of torture and death, popularised by 16th-century religious propagandists and 19th-century writers, only seven people were executed within the Tower before the World Wars of the 20th century. […] In the First and Second World Wars, the Tower was again used as a prison, and witnessed the executions of 12 men for espionage. […]
Later medieval period
Much of the latter half of the 15th century was occupied by the Wars of the Roses between the claimants to the throne, the houses of Lancaster and York. […] Shortly after the death of Edward IV in 1483, the notorious murder of the Princes in the Tower is traditionally believed to have taken place. The incident is one of the most infamous events associated with the Tower of London. Edward V's uncle Richard Duke of Gloucester was declared Lord Protector while the prince was too young to rule. Traditional accounts have held that the 12-year-old Edward was confined to the Tower of London along with his younger brother Richard. The Duke of Gloucester was proclaimed King Richard III in July. The princes were last seen in public in June 1483; it has traditionally been thought that the most likely reason for their disappearance is that they were murdered late in the summer of 1483. […] Opposition to Richard escalated until he was defeated at the Battle of Bosworth Field in 1485 by the Lancastrian Henry Tudor, who ascended to the throne as Henry VII.
Menagerie
The Royal Menagerie is first referenced during the reign of Henry III. In 1251, the sheriffs were ordered to pay fourpence a day towards the upkeep for the King's polar bear, probably a gift from Haakon IV of Norway; the bear attracted a great deal of attention from Londoners when it went fishing in the Thames. In 1254, the sheriffs were ordered to subsidise the construction of an elephant house at the Tower. The exact location of the medieval menagerie is unknown, although the lions were kept in the barbican known as Lion Tower.
See the official Tower of London site for more information as well as prices and opening times.