The Preston family of Craigmillar began the castle in the late 14th century. It was in place as an L-plan tower house by 1425. The four-story tower measures 52 by 38 feet (15.8 by 11.6 m), with walls up to 11 feet (3.3 m) thick. Sir William Preston probably added the courtyard wall in the mid-15th century, drawing on ideas from his time in France. The outer courtyard was probably built around 1511. The article names no architect.
English troops burned the castle on May 8, 1544. Mary, Queen of Scots stayed from November 20 to December 7, 1566, and the Craigmillar Bond was agreed here. Sir John Gilmour bought it in 1660 and rebuilt the west range with classical details.
Historic Environment Scotland owns it. It has been in state care since 1946 and is a scheduled monument.
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