While visiting Trujillo, I had the pleasure of spending a night at the Posada dos Orillas. It is located only a short walk from the castle, plaza mayor, and other sights. The building itself is a reformed palacio loaded with sturdy furniture, art, and a restaurant. Staff were knowledgeable and helpful from the moment I checked in until I checked out.
The room itself was average size with a view over the medieval streets. A well-appointed bathroom comes with all the amenities. If you're planning to stay a while, you'll find ample closet and drawer space. The internet service worked perfectly, making checking on business easy.
Breakfast was a buffet affair over the usual toast, meats, cheezes, fresh juice, yoghurt, and coffee.
Parking is a challenge but only if you mind a brief walk, which I actually prefer and enjoy.