The Satomi clan, virtually independent rulers of all of the Bōsō Peninsula during the Sengoku period, erected the original Ōtaki Castle in the early 1500s to guard the northern approaches to their domains, but fell into ruins by the end of the 16th century.

In 1590, after Tokugawa Ieyasu was resettled in Edo, by order of Toyotomi Hideyoshi, he assigned Honda Tadakatsu to erect a new fortification to help contain the power of the Satomi in Tateyama Domain.

The Satomi were destroyed by the Tokugawa shogunate in 1614, but the Honda continued to rule as daimyō of the 100,000 koku Ōtaki Domain for the following three generations.

In December 1672, an application was made to the Tokugawa shogunate for permission to rebuild the castle, stating that there was not even a single functional gate and that the 4-story donjon had fallen into ruins.

The main event is a parade of people wearing samurai armor and costumes reflecting the Edo period.