Built on previous Roman settlements, the Castle was a possession of the Guidi Counts attested from the mid-10th century, then sold by them to the Municipality of Pistoia in 1225. Contested several times between the Pistoiesi and the Florentines until 1401 when Pistoia definitively submitted to Florence and Larciano became headquarters of one of the podesterias in which the administration of the territory was divided.