In 1553, Pfedelbach fell to Count Eberhard, founder of the main Hohenlohe-Waldenburg line. Due to Pfedelbach's mild climate, he planned to build a second residence here as a winter residence in addition to his Waldenburg main residence. Between 1568 and 1572, he commissioned the Heilbronn master builder Sebastian Mayer to build a square moated castle with a square courtyard in the Renaissance style in place of the old moated castle. When Eberhard died in 1570 from the injuries he sustained during the "Waldenburg Carnival," his widow, Agathe, Countess of Tübingen, devoted herself to completing the castle and designated it as her widow's residence.
With Ludwig Gottfried, the Hohenlohe-Waldenburg-Pfedelbach line became extinct in 1728, and the property passed to the Hohenlohe-Waldenburg-Bartenstein line. The planned extensive Baroque renovation of the building was only partially realized with the new construction of Bartenstein Castle.
The magnificent court chapel was built between 1731 and 1732 under Count Ferdinand of Hohenlohe-Bartenstein.
After the mediatization, the Württemberg district court was located in Pfedelbach Castle from 1806 to 1840.
After the Second World War, the castle served as a poorhouse and fell into rapid disrepair until the municipality acquired the dilapidated building from Princess Clara of Hohenlohe-Bartenstein in 1962 and undertook a comprehensive renovation.