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The origin of the fortress goes back to the 10th century; the castle still existed in 943. In 983 Almanzor took the control of the castle until in 1013, it was reconquered by the Castilian count Sancho Garcia. The matrimonial disagreements between Urraca de Castilla and Alfonso I El Batallador gave place to which this one was meeting surrounded in Peñafiel's castle in 1112 for the troops of his wife and, in another occasion, for those of his father-in-law Alfonso VI. For then he had been a warden of the fortress the inhabitant of Burgos Álvar Fáñez, Rodrigo's Diaz de Vivar cousin brother and character celebrated also in "El Cantar del Mio Cid". Fernando III el Santo instituted Peñafiel's dominion for his son Alfonso X el Sabio, who transferred to his nephew, and holy king’s grandson. The holy king was the infant Don Juan Manuel. This one was the one who was in charge to the rebuilding of the castle and to the enclosure walled in the first half of the 14th century. A little later, being a king of Castilla Pedro I Cruel, suppressed the dominion and his goods went on to royal property. From Juan I the castle went on to Fernando's hands of Antequera, and from them from this one to his son Juan II of Aragon. Being Juan still infante resided in the castle during some time, so that in it there was born his first son, Carlos, prince of Viana (1421). In the castle he also was involved in a revolt against Juan II of Castile, who took it in 1451 and ordered the castle demolition. Nevertheless, in 1456 he granted to don Pedro Téllez Girón, Master of Calatrava's Order, the rights on the rest of the castle, included that of the castle rebuilding. The building constructed now is the castle which we see today.