The first record of the Norman Castle dates back to 7 May 1093.

Its birth follows the advent of the Normans in 1072 A.D., conquerors of the village of Stilo. They in fact chose the village, due to its strategic position dominating the entire Stilaro Valley, as a royal demanio, i.e. a city under the direct control of the king, a role maintained also during the Swabian, Angevin and Aragonese dominations.

Erected by Roger the Norman in the second half of the 11th century, to better dominate his restless city, the fascinating medieval castle dominates the surrounding territory unchallenged.