The construction of the castle took place by the family of Sigismondo Malatesta in the early 1300s and was disputed between the Malatesta and Montefeltro families in the battles for the acquisition of the territory. It was thus lost and reconquered five times, until Federico da Montefeltro finally conquered Tavoleto in 1458. Federico ordered the demolition of the castle and then rebuilt it under the work of the architect Francesco di Giorgio Martini who finished it before 1474. In 1631 it became the direct domain of the Papacy, but in 1885 it was donated to the Lawyer Petrangolini at the same time as the assignment of the title of count and the subjugation of the surrounding territories.
It was subsequently sold to a private individual who transformed it into a restaurant in the more recent 1960s and renovated it according to the standards of those years. The current owners instead purchased it with the intention of bringing it back to its origins. Today it is home to receptions and ceremonies.