Tilbury Fort is something of a historic hidden gem. It's hard to grasp just how impressive it is until you've experienced the place and its stories for yourself!
A great choice for a family walk in Essex is Thorndon Country Park. Meet the Gruffalo and his friends along the Gruffalo Trail enjoy exploring the paths and wildlife along the way.
Weald Country Park offers a great walking route you can do with small children. It takes you past all the main points of interest in intervals that make the kids think they haven't done that much walking.