The castle was built at the turn of the 14th and 15th centuries by the Knights of St. John, who in 1382 purchased Pęzino from the Borek family. They modeled the structure of the castle on their other seat, the castle in Swobnica. In 1492, the castle was acquired by the Borek family as a hereditary fief of the order in private possession. Around 1600, large-scale construction works began, including erecting a three-story residential wing and transforming the entire castle into a Renaissance residence.
From 1680, the castle was managed by the Puttkamer family, who in 1703 became its owners. In the middle of the 19th century, they added a new wing called neo-gothic to the eastern frontage of the Gothic wing. In the 1860s, the Puttkamers tidied up the surroundings of the castle by demolishing the outbuildings located there. In their place, green areas and romantic buildings in the form of a garden pavilion and the ruins of a chapel were built.
After World War II, the castle was taken over by the State Agricultural Farm in Pęzino. His condition gradually deteriorated. In 1977, a general renovation of the castle began, allocating it to the headquarters of the Combine of State Agricultural Farms. The renovation was completed in 1990. As a result of the political changes that soon followed, the castle became the property of the Agricultural Property Agency of the State Treasury, which in 1996 sold the castle to a private buyer.
Today the castle is closed. Weddings, communions, conferences, trainings and other celebrations are organized there. Sightseeing is difficult, but possible. Sometimes there are open days for tourists.