The castle was probably founded around 1294 by Bishop Tobias of Benešov in Prague as a Gothic fortress inspired by French castles. After the extinction of the Benešovice family in 1327, it passed into the hands of the Šternberks for 275 years.
Over the centuries, the castle has undergone several reconstructions, including Renaissance and Baroque modifications. In 1887, it was purchased by Franz Ferdinand d'Este, who had it rebuilt in a historicist style and turned the surrounding area into a vast 225-hectare landscaped park.
Visitors today can choose from several sightseeing routes. Tours are guided and some have limited capacity, so advance booking is recommended.