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In the Middle Ages, cities like Nuremberg were strongly protected by walls and castles, but villages lacked them. It was often impractical to build these around a straggling farm village, and the cities jealously guarded their rights to have walls - any others might be distrusted as a prelude to rebellion. So instead many villages fortified their church, and Kraftshof is a good example. See Wikipedia entry for other examples especially in Bavaria, Baden-Wurttemberg, Transylvania and the Dordogne.
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Nuremberg's patricians had numerous manor houses in the surrounding villages. This is a good example, built in the 16th century. Adjoining is a small baroque garden. The castle is closed for renovation in 2017.
St. John's Graveyard
14th-century graveyard with many famous citizens, including Albrecht Dürer and Adam Kraft. In summer the gardens are a riot of roses and other colourful flowers. You can walk here along Johannisstraße but the street is mostly modern, busy and uninteresting. Alternatively follow the river walk west from Hallertor. This eventually leads into Lindengasse which curls north to the church. Continue the riverside walk west for a couple of hours to reach the town of Fürth. The main sights there are the old streets, the Jewish Museum, the Radio Museum, and Town Hall. You'll probably prefer to ride back to the city, on U-1 or S-1.
Kaiserburg
The western and most prestigious part, grouped around the inner courtyard. It was the temporary residence of the Holy Roman Emperors. The ticket includes the Palas (residential building), the double chapel, and the Imperial Castle Museum in the Bower. The Sinwell Tower offers a panorama of the city, while the "Deep Well" (Tiefer Brunnen) can be visited via a short guided demonstration.
Reichsstädtische Bauten
The eastern part, built by the city to assert control over the Burgraves. It includes the Luginsland Tower and the massive Imperial Stables (Kaiserstallung), which now serves as one of Germany's most scenic youth hostels.
Nürnberger Burg
The Nuremberg Castle is the rambling fortification that dominates the old town. While it appears to be one massive fortress, it historically consists of three distinct parts that often stood in conflict with one another.
Nürnberger Unterwelten
Part of the labyrinth of tunnels underneath the city, but separate from the Felsengänge tour (listed above). During World War II this and other bunkers were converted into safe storage for the city's art treasures, with temperature and humidity controls and extra security. Frequent tours in German, but tours can be organised for up to 25 in English, French, Italian, Spanish and Czech.