The site began as a 10th-century water castle, and a castle was completed on the grounds in 950, as the article puts it. It was the residence of the Counts of Württemberg and later some Dukes. Dukes Christoph and Louis III renovated it from 1553 to 1578, and the church and conference room followed in 1562. Blasius Berwart is credited with the equestrian staircase of 1560. The arcaded courtyard shows motifs of the early Italian Renaissance.
The moat was filled in the 18th century. A fire in 1931 destroyed the dirnitz and two towers, though a cited archive photo gives 1935. Paul Schmitthenner led a renovation in 1971.
It is home to the Landesmuseum Württemberg. The castle church is still used for worship, and King Charles I and his wife Olga are buried beneath it.
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