This castle is located at the top of the town of Crato, in a dominant position over the Vale da Seda riverbank and hillside where the town developed.

The construction of the castle followed the founding of the town in 1232, and progressed throughout the 14th century. In 1430 it was rebuilt.

In the mid-17th century, the medieval castle was transformed into a modern fortress.

In 1662 the castle and town were devasted by the troops of King João da Áustria. A few sections of the medieval and modern structures remain.