An early medieval fortification was possibly erected at the location of the future castle around 750 by Count Ruodbrecht, one of Charlemagne's uncles.
Thereafter, one branch of this family called itself Counts of Nagold and had the castle transformed into their residence in the 13th and 14th century.
The new owners added bastions and towers to the outer ward and had the castle occupied by their ministeriales.
Towards the end of the Thirty Years' War, the castle was conquered by Bavarian troops in 1645 and severely damaged.
[2] In 1945 the northwest tower was destroyed by a low-level attack carried out by Allied planes.