It was originally built in the Middle Ages, but most of the buildings today date back to the early 18th century.
The palace houses the extensive antique collection of Franz, Count of Erbach-Erbach.
The rulers of Erbach, likely Count Gerhard I, built the first castle in the 13th century.
In 1717 Erbach was divided into Erbach-Erbach, Erbach-Fürstenau, and Erbach-Schönberg (Schönberg near Bensheim).
The present Count of Erbach-Erbach is still living at Erbach Palace and his nearby Eulbach hunting lodge.