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The first evidence of the structure of the Castle dates back to the years 837-838. The castle was the residence of princes of the Honor Sancti Angeli lordship: it belonged to Rainulfo (count of Aversa) and then to Roberto il Guiscardo. It hosted Frederick II of Swabia and his favorite, the Countess Bianca Lancia of Turin. The Angevins used it as a state prison: famous are the detentions of Filippa d'Antiochia (Swabian princess) who died there in 1273, and that of Queen Giovanna (perhaps murdered there) and whose remains remain in Monte Sant'Angelo, in the church of San Francesco. It also became the home of Durazzo princes: in fact, Charles III of Durazzo, later king of Naples and Hungary, was born here.
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