Very closely linked to that of its castle, the history of Erpeldange-sur-Sûre dates back to the 13th century. At that time, the lords of Erpeldange owned a "fortin" probably erected in the 12th century. A century later, the old building was replaced by a real stone fortified castle dominating the valley, at the confluence of the Sûre and the Alzette. The castle successively became the property of the counts of Vianden, Kerpen, Outscheid and Beifels. Through alliances, the Gondersdorf family inherited the castle and transformed it, in 1630, into a sumptuous residential residence. It no longer has any military value, its moats having been demolished to make way for a peaceful park. Abandoned by the Le Prel family in the 19th century and transformed into a presbytery, the castle belonged to various individuals until 1983, when the State acquired the property definitively.
The municipal administration moved there in 1987.
Fortunately, two fireplaces of great artistic value, true jewels of the Renaissance, have been preserved within the castle walls.
The municipality of Erpeldange-sur-Sûre, located at the intersection of Oesling and Gutland is made up of two other localities: Ingeldorf and Burden. Ingeldorf, near the Sûre, is mentioned for the first time in the 13th century under the name of Engendorff.
In the 19th century, Ingeldorf belonged successively to the districts of Diekirch and Ettelbruck, before forming, in 1850, with Erpeldange, the new municipality of the same name.
The first historical document, mentioning the village of Burden, dates from 1235. The locality of Burden was part of the municipality of Ettelbruck until 1906, before being attached to the municipality of Erpeldange-sur-Sûre. In the middle of a natural site of great beauty, Burden has never had more than 500 inhabitants.