The best way to visit the Castillo de Gibralfaro is on foot via the scenic paseo Don juan de Temboury. This path winds it's way from the Alcazaba through lush gardens up towards the castle.
Half way up the path, there is a forest track to the right. It is just after the viewpoint and in our opinion, it's is worth taking this short detour towards the castle. The path is part of Monte de Gibralfaro, and while following this path, you would be forgiven to believe that you are in the countryside rather than Malaga city. It is only the views towards the city which bring you back to reality. There are views towards the Sierra de Mijas and towards El Palo, and you can even look into Plaza de Toros de la Malagueta.
The Castillo de Gibralfaro is reached after a short hike.The entrance into the Castillo is €2.20 for an adult and is worth it even just for the views. The Castillo was built in the 10th Century by Abd-al-rahman III. In the 14th Century, it went through an expansion which resulted in the addition of a double wall down to the Alcazaba.
Within the walls of the castillo, you find close to the entrance a small military museum. You will also find nicely restored ramparts and courtyards.