Helmsley Castle was placed in State Guardianship in 1923. The first official guidebook was prepared by Sir Charles Peers in 1946. This consisted of a history followed by a description. A fold-out map was placed inside the back cover.
Glyn Coppack prepared a new English Heritage guide in 1990. It starts with a description and is followed by the history of the castle. A colour reconstruction of the castle by Alan Sorrell is placed in the centre. A double page plan is placed inside the back cover.
Jonathan Clark prepared the 2004 English Heritage guide. The description has been replaced by a tour. It is then followed by a history. A coloured plan showing the different phases is placed sinde the back cover.
John R. Kenyon prepared the English Heritage ‘red’ guide. This consists of a tour and a history. A plan is placed inside the back card cover.