Known to be in existence at least since the late 12th century, this castle had been the property of several queens of the Afonsina Dynasty when it was donated to Nuno Álvares Pereira by King João I.
In 1422, the Warden of the Kingdom donated all his assets and titles to his grandchildren, sons of the 1st Duke of Bragança.
The great earthquake of 1755 caused considerable damage to the castle, and it also suffered with the French Invasions in 1810.