The castle was the caput baroniae of the barony of Folkingham.

A motte and bailey castle was constructed around the late 11th century by Gilbert de Gant, a Flemish soldier in William the Conqueror’s retinue.

The castle was then granted to Henry de Beaumont.

Edward II, granted Henry a licence to crenellate the castle in 1312.

During the 19th century a correction house was built inside the castle.