This work aims to create a navigable virtual environment of the Bufalini Castle through virtual reality viewers, allowing the elimination of physical barriers and ensuring full accessibility to cultural sites. The majestic building, built during the 15th century, has an architectural conformation that is not easily accessible to people with mobility disabilities. The structure’s design, featuring narrow passages, multiple staircases, and a lack of elevators, currently restricts exploration for visitors using wheelchairs or facing other mobility challenges. The creation of the 3D scenario mainly uses virtual reality technologies. However, to ensure a good level of realism, photogrammetry involves capturing extensive photographic datasets of the castle, which are then processed to create geometrically accurate and texturally rich meshes, capturing a high level of graphic detail and realism essential for an engaging user experience.