The first written mention can be found in a Hewener land register from the 15th century, which speaks of a "Krenkingen Castle located on Engen". A predecessor building from the High Middle Ages may have stood at this point. Little is known about the early owners of the castle and a possible connection to the Lords of Krenkingen, who lived in Klettgau. Around 1494, Engen and with it the castle fell to Heinrich V von Lupfen. Heraldic stones are evidence of extensive renovations between 1536 and 1555, including the creation of the stair tower and the addition of heights to the south wing. During the Thirty Years War, the castle was set on fire by Swedish and Hohentwiel soldiers in 1640, after which the north wing was rebuilt slightly lower. On May 3, 1800, French troops looted and devastated the castle, which at that time was probably already in decline. From 1814 there were plans to set up office rooms and prison cells in the castle. In the 1820s the castle was the official residence of the prince-Fürstenberg superintendent Carl Friedrich Eckhard, father of the later entrepreneur and politician Carl Eckhard, who was born in the castle in 1822. After it was sold by the von Fürstenbergs in 1829, the castle was used by an innkeeper as a warehouse and summer inn. In 1891 it was acquired by the Baden state, which set up grand ducal offices here over the next two years. In more recent years, the building housed the police station and a notary's office; after extensive renovation in 2001, the forestry office is located here.