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If you don't want to drill (and thus in the long run fill and repaint), there are many gates that are clamped to the sides instead. They fit well, but you are still advised not to have them at the top of a staircase in case they come loose.
If you have metal railings, uneven walls, or asymmetrical openings, they also work better.
In addition to not installing a clamp gate at the top of the stairs, it is also a good idea to consider the design of a fixed gate. Many baby gates have a frame on which you can easily bump your feet and lose your balance. A gate that is lifted or rolled to the side is therefore a safer choice.
For more useful tips about child proofing your home follow the link to NHS.uk.