In the Carolingian period, there was a huge forest area in the plain between the Rhine and the Main, for which a special royal hunting right (wild ban) applied in large parts. This area was called Wildbann Dreieich, its northernmost point was in Vilbel. The care of the game, the maintenance of the forest and the protection of royal rights were the responsibility of the so-called Wildhubeners. It is said that their Huben (farms) had to consist of at least a house, barn and dog stable. A Wildhube is recorded for Vilbel.
It can be assumed that this stood on the site of the present castle and that the Wildhubeners were ancestors of the Vilbel knightly family, which was first mentioned in documents in 1128 with Walter von Velewile. These "Lords of Vilbel" gradually developed into robber barons, against whom an alliance was formed in 1399, consisting of the Frankfurt City Council, Ulrich von Hanau and Philipp von Falkenstein. In 1399, the alliance stormed the castle, partially destroyed it, took the knight Bechtram into custody and stripped him of his castle.
In the early 15th century, the Archbishop of Trier, Werner von Falkenstein, had the castle rebuilt on the existing foundations. Through inheritances and sales, the castle came into the possession of the Chur-Mainz, who used it as a residence for the Mainz officials in Vilbel.
In 1796, the castle was plundered and badly damaged by the French during the Napoleonic Wars. It then had various secular owners until the city of Bad Vilbel acquired the ruins in 1955, renovated them and used them for events. The Bad Vilbel Castle Festival has been held here annually since 1987.