Around the middle of the 15th century, the von Langen family expanded the Venhaus farm into a new castle and moved into their new ancestral home. The heiress of von Langen married a nobleman from Falke. This family remained castle owners for three generations. The heiress Sophie married in 1583 the Dutch. Knight Balthasar von Ripperda. Among them, in 1619, the castle buildings were remodeled in the late Renaissance style and the transverse wing was added to the manor house. Her grandson Wilhelm Karl von Ripperda sold the manorial estate to the von Recke family in 1668.
The castle came to the von Landsberg-Velen family in 1756 through inheritance. During the 19th cent. the buildings behaved, which meant that the east wing, the south wing of the main castle, the brewery with the rentmaster's apartment and various agricultural buildings on the outer bailey were demolished and the moats were partially filled. In 1870 the northern part of the inner courtyard was filled up. In 1876 the estate was sold to the bourgeois director Themann. Later, the municipality of Venhaus acquired the remaining castle grounds with the remaining palace buildings. The congregation erected a church in the west wing that still existed and converted the gatehouse into an apartment for the pastor. In the church there are still several coat of arms stones from the old manor house.
In 1999, the Friends of Burgpark Venhaus e. V. with the aim of restoring the outdoor facilities of Burg Venhaus, researching and documenting the history of the castle. In the years 2001 and 2002, the outdoor facilities were restored based on the historical model and adapted to today's requirements. Renovation measures were carried out on the buildings. New paths and bridges open up the area. Trees were planted. The church square was redesigned. The church serves the Catholic parish of Sankt Vitus Venhaus, the former manor house is used as a vicarage.