The Shropshire Hills have plenty of options for rambling adventures, but to me one of the most awe-inspiring and dramatic is the Stiperstones (52°34'24.8"N 2°55'54.8"W); comprised of a handful of tors (also known as a castle koppie or kopje - read more on Wikipedia), these incredibly unique peaks combined with a blanketing of heather give the area a really distinct look. I would recommend a visit in the Summer so you can see the heather in full bloom. Aside from the stones themselves, the area boasts amazing views and on a clear day you can see many of the other prominent peaks in the Shropshire Hills. When you arrive at the car-park there is a well marked circular walk along with information boards to learn more about the local flora and fauna - this is an area of Special Scientific Interest (SSSI), particularly for birds. Make sure you have a good zoom lens or a set of binoculars to get some bird spotting done, if you're lucky you might even spot a grouse or falcon.
Nearby and also worth a stop is "The Bog", which includes a visitors centre where you can grab some food and drink next to a former mining community. You can freely explore the site of the mining community and the entrance to the visitors centre features a lot of interesting information about the area.
If you follow the full walking route (Which will take you through all of the Stiperstones and The Bog) you are looking at a roughly 5 mile walk over some very rough terrain so, as I always recommend, you will want your best hiking boots and maybe some snacks so you can give yourself a break part-way - there is a definite risk of injury here as most of the paths extremely rocky, so do take care. However it is definitely worth the risk of a rolled ankle to get to the views that await you:
Whatever your plans, if you find yourself in the Shropshire Hills i absolutely recommend a stop off to enjoy this unique spot, if for no other reason than to grab a few photos for your travelling scrapbook.