A network of buildings were found at the 11th Century Old Sarum near Salisbury, Wiltshire.
The results include a series of large structures, possibly defences, with open areas of ground behind possibly for mustering resources or people.
Old Sarum was the original site of Salisbury, which is over three kilometres away.
It was originally an Iron Age fort, established around 400 BC, and occupied by the Romans after the conquest of Britain in AD 43.
Other structures plotted on the plan include residential areas and industrial features such as kilns or furnaces.
The university's director of archaeological prospection services, Kristian Strutt, said: "Archaeologists and historians have known for centuries that there was a medieval city at Old Sarum, but until now there has been no proper plan of the site.
"Our survey shows where individual buildings are located and from this we can piece together a detailed picture of the urban plan within the city walls."
The techniques used to survey the land included magnetometry, earth resistance, ground penetrating radar and electric resistivity tomography, which uses electrodes to probe underground.
These new approaches are "exciting and innovative", according to Neil Holbrook from Cotswold Archaeology, and "could be applied pretty much anywhere".
"The survey adds a whole new dimension to our understanding of a site which we thought we knew. In fact, there is so much more to be found out," he added.
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