Its foundation was decided by the Florentine Republic in 1306 to oppose the Ubaldini (Lords of Apels).
However, construction work only began in 1332 with the building of an outpost on the road to the north.
The castle was not completed until 1410.
After the extinction of the powerful Medici family, the Spanish and Austrians decided on the transfer of Tuscany to the House of Lorraine of Austria in Firenzuola in 1736.