The castle was built shortly after 1330 by Ctibor Morava, the heir to the Otaslavic manor. Brníčko was completely destroyed during the wars between Jiří z Poděbrady and Matyáš Korvín. In 1471, the castle was captured by followers of Matyáš Corvín - the infamous black company of Matyáš's warlord Franc z Háje (called "Terrible Franc" among the army and the people) and the lords of Zvola. After the most necessary repairs, the castle was still used, but it is already mentioned as demolished in 1513.
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