When he entered the kingdom in 842, Daniël van Voeren donated all his possessions to the Teutonic Order. This had been located in the county of Loon in debalije Biesen since 1220. Until the French Revolution, the area of Sint-Pieters-Voeren remained an enclave in the county of Dalhem under the authority of the Holy Roman Empire (Roman Emperor).
In 1320 there was already talk of a commander Van Bronchorst. Together with eleven other ballijen, Sint-Pieters-Voeren was dependent on Alden Biesen's land commandery. The current castle was the commandery, the residence of the local commander. Sint-Pieters-Voeren had 39 commanders over the centuries.
In 1798, the Teutonic Order was dissolved by the French state during the French occupation. The commandery of Sint-Pieters-Voeren successively came into the possession of several owners. First by J.-J. Dresse of Verviers, who resold it well to A.-J. Sauvage, also from Verviers. From 1856 to 1893 it belonged to Baron Otto Napoleon de Loë-Imstenraedt from nearby Mheer, who also called himself Lord of Sint-Pieters-Voeren.
In 1893 it was bought well by Baron L. de Potesta de Waleffe. He made profound changes to the buildings. In the so-called Knights' Hall he had historicizing wall paintings about the experience of the Knights of the Teutonic Order and on the support beams of the lower floor he had the coats of arms of the commanders living there put up.
Through marriage the castle came into the possession of the Ferretti di Castelferretto family in 1952. In 1969 the property passed to the Dutch Van Rijckevorsel family.
From 2006 to the present day, Fleming Eric Rochtus and his wife Anne Van Mulders have owned the commandery. They renewed the roof and provided the castle with sanitary facilities, central heating and electricity lines. The new owners' art collection was housed in the castle. In 2021, the castle and the 12-hectare domain from which the Voer River originates will be for sale at Sotheby's.