So this museum is basically inside the historical Yverdon Castle. While all of the visual guides are either in French or German, the friendly receptionist had an audio tour available in English. Oh, and if you have the Swiss Travel Pass (as a tourist) active at the time, you can enter for free.
The audio guide was quite informative and covered the history and culture of the Yverdon region. The castle structure itself like the walls, windows, and some doors were well-preserved, the rooms themselves are obviously not and were converted to house the museum displays instead of being preserved as closely to their original form as possible though that's no big deal for me.
Budget about 1.5-2 hours for your audio tour. read more