With your back to the car park in Common Hill, walk across The Common to The Maze. If you have time you can enjoy exploring its mile-long (1.6km) trail before continuing the town walk.

At The Maze turn right to the river and then right again, keeping the river on your left, to head back to the car park. At the car park turn left and then right into Hill Street. Turn right into Market Street, passing Market Row on your left, into Market Square. This is the hub of the town. The mock-Tudor Town Hall, with a projecting gable, houses the tourist office. Other notable buildings include the Italianate-style Corn Exchange, now the library, and an impressive drinking fountain commemorating the marriage between the Prince of Wales and Princess Alexandra in 1863. Keeping the Corn Exchange on your left, walk towards Church Street to the historic Old Sun Inn, which is now an antiques and second-hand bookshop. This is where Cromwell and General Fairfax are said to have stayed during the Civil War. The group of 14th-century houses is decorated with impressive 17th century pargeting.

Turn left into Church Street and then right into the churchyard of St Mary the Virgin. With its saffron crocus emblem, this is one of the largest parish churches in Essex. It stands on the site of a Saxon and Norman church, and was mostly rebuilt between 1450 and 1525. Its sheer size demonstrates the prosperity of the area. At the church, turn right, and cross Museum Street to view the museum with its fascinating collections, and the ruined flint walls of the 11th-century castle keep, built on the remains of a Saxon church. Retrace your steps to Museum Street, turn right and then left into Castle Street. After passing house No. 23 turn right into Bridge End Garden, past Fry Art Gallery, and the town’s other maze. This garden exudes Victorian elegance, with a viewing platform, pavilions and statues. Take the main path left into Bridge Street.

Turn left to pass the 16th-century Eight Bells pub, with its splendid beam carved with leaves and dolphins below a downstairs window. Maintain direction towards the town centre, crossing Castle Street, where on the right you can see the best 15th-century medieval building in Saffron Walden. A former maltings (one of six which graced the town in the 1600s), this former youth hostel must be one of the most atmospheric places to stay in the county. Diagonally opposite this is the 16th-century house called The Close, home of Francis Gibson, creator of Bridge End Garden. Continue along Bridge Street to see more listed buildings, one of which is the 850-year-old Cross Keys Hotel, with a raised roof which was added in the 18th century. Turn left into King Street and right into The Rows, the town’s medieval shopping centre, where the buildings still retain their 15th-century shop windows. Go left into Market Row to return to the car park.