There are many old buildings around the quayside and the jumble of streets behind.
The outstanding Butterwalk dates from the 17th century, and contains the town museum.
St. Saviour`s Church, dating from the 13th century and originally a chapel of ease, has an extraordinary painted pulpit and altar.
There are ferries across the Dart to Kingswear.
The Royal Naval College overlooks the town, and was built in the late 19th century.
Standing beside the quay is Dartmouth Station, built by Brunel in the vain hope that his railway would be allowed to cross the estuary. It actually terminates at Kingswear.
Dartmouth Castle dates from around 1480, and stands opposite Kingswear Castle. In times of war, a chain was stretched between the two.
In the town itself is Bayards Cove Fort, built a little later by Henry VIII.
In a shed beside the quay, which also now houses the Tourist Information Centre, is housed the first steam engine invented by Thomas Newcomen.
The fleet sent by Edward III to assist at the Siege of Calais sailed from Dartmouth, while the fleets for the Second and Third Crusades were assembled here.
Among those born in Dartmouth are Thomas Newcomen, inventor; and Jack Russell, clergyman who gave his name to the breed of terrier.
Geoffrey Chaucer mentioned Dartmouth in "The Canterbury Tales".