• Bridgnorth - In 1156, it was Brug, but had become Brugg North by 1282 to distinguish it from the other bridge over the Severn, two miles further south, at Quatford.

Bridgnorth is named after a bridge over the River Severn, that was built further north than an earlier bridge at Quatford. The earliest historical reference to the town is in 895, at which time it is recorded that the Danes created a camp at Cwatbridge, and subsequently in 912, Æthelfleda constructed a mound on the west bank of the River Severn, or possibly on the site of Bridgnorth Castle, as part of an offensive against the Danes.

After the Norman Conquest, William the Conqueror granted the manor of Bridgnorth to Roger de Montgomerie. The town itself was not created until 1101, when Robert de Belesme, the son of Roger de Montgomerie, moved from Quatford, constructing a castle and church on the site of the modern-day town. The castle's purpose was to defend against attacks from Wales. On Robert's attainder, in 1102 the town became a royal borough. Later, in 1546, the town was incorporated by James I.

It is probable that Henry I granted the burgesses certain privileges, for Henry II confirmed to them all the franchises and customs which they had in the time of Henry I. King John in 1215 granted them freedom from toll throughout England except the city of London, and in 1227 Henry III conferred several new rights and liberties, among which were a gild merchant with a hanse. These early charters were confirmed by several succeeding kings, Henry VI granting in addition Assize of Bread and Ale and other privileges. The burgesses returned two members to parliament in 1295, and continued to do so until 1867, when they were assigned only one member. The burgesses were additionally granted two fairs: a yearly fair on the feast of the Translation of St. Leonard and three following days was granted in 1359, and in 1630, Charles I granted them licence to hold another fair on the Thursday before the first week in Lent and two following days. The town was disfranchised in 1885.

In 1978, Bridgnorth twinned itself with the French town of Thiers, and later in 1992 it also twinned with the Bavarian town of Schrobenhausen, Germany that had already twinned with Thiers a few years earlier. On August 21, 2003, Bridgnorth was granted Fairtrade Town status.

In 2005, unverified German papers dating from 1941 were found, outlining new details about Operation Sealion, the military plans of Nazi Germany for an invasion of Britain. Two quiet Shropshire towns were mentioned in the documentation—Ludlow and Bridgnorth. Some experts believe that it was Hitler's intention to make Bridgnorth the German headquarters in Britain, due to its central position in the UK, rural location, rail connections and now-disused airfield.

Bridgnorth is home to a funicular railway that links the high and low towns, the Castle Hill Railway, which is the steepest and only inland railway of its type in the country. Additionally, within the Low Town is Bridgnorth railway station on the Severn Valley Railway, which runs southwards to Kidderminster.

The ruins of Bridgnorth Castle, built in 1101, are present in the town. Due to damage caused during the English Civil War, the castle is inclined at an angle of 15 degrees.

High Town is dominated by two Church of England churches: St. Mary's Church, a church built in the classic style of the late 18th century, which was designed by Thomas Telford; and St. Leonard's, which was formerly collegiate and, from 1860, was largely rebuilt.

Other notable buildings in the town are the seventeenth century Bridgnorth Town Hall, a half-timbered building, and a surviving town gate the Northgate which houses the Museum. Daniel's Mill, a well known watermill is situated a short distance along the River Severn from Bridgnorth.