St. Bartholomew's Church, hidden behind the main street, dates from about 1300.
But the village is best known for the red brick ruins of the 15th century Kirby Muxloe Castle.
In fact they are not ruins at all. The castle was being built by Lord Hastings, and was abandoned in 1483 when he was summarily executed for plotting against Richard III.
It stands within a moat, and is in the care of English Heritage, as is another building owned by Lord Hastings, Ashby-de-la-Zouch Castle.
Blue Badge Guide Colin Crosby is available to lead Guided Walks around Kirby Muxloe for groups.