Being one of the oldest recorded towns in Essex, a walk up the High Street to the crest of the town reveals many buildings whose brick facades conceal medieval timber frames. At the junction of the High Street and Market Hill stands the tower of St Peters which is attached to the building erected in 1704 by Dr Thomas Plume to house his famous library and the Maldon's grammar school. The school has long since moved and the ground floor now contains the Maeldune Centre which displays the Maldon Embroidery depicting life in the town from the Battle of Maldon to the present day.

Further along is the Moot Hall, built in the 15th century for the d'Arcy family and most recently used as the council chambers, magistrates court and police station. Another few yards and you will reach the 13th century All Saints' Church, famous for it's trianglar tower and Washington Window.

Market Hill, lined with more timber framed buildings including the old workhouse, leads steeply down to Fullbridge at the crossing of the River Chelmer. This area was once a thriving port with it's wharves busy unloading ships laden with timber and other materials. It is also the home of Maldon's old railway station building which has survived despite the railway being closed in 1964. At the end of Station Road you will find the Combined Military Services Museum containing a large collection of weapons and armoury and other displays.