It is situated at a distance of 34 km (21 mi) from Arad, the county capital, at the contact zone of the river Mureș with the Zarand Mountains [ro], the Western Plateau, and the Lipova Hills.

After the Tartar invasion in 1241 the fortresses were rebuilt, and the lines of the future urban settlement started to get contoured around the castle.

In the period of the revolution in 1848-49 and in the beginning of the 20th century Lipova became an important centre of political and national emancipation, due to the activity of remarkable personalities, such as Nicolae Bălcescu, Vasile Goldiș, Alexandru Mocioni [ro], and Teodor Șerb.

Șoimoș Castle has also taken part from the successive vicissitudinary periods related to the historical events of Lipova and to the defensive role of the main entrance gate from Transylvania.

The natural reservation "Balta Șoimoș", the Șoimoș Castle, the monastery called "Saint Mary" in Radna, the Church of the Annunciation [ro] and the Church of the Assumption of Virgin Mary in Lipova, the town museum, the "Sub dughene" bazaar (Turkish bazaar), the environs of the town-hall (Nicolae Bălcescu Street) and the thermal bath where springs with curative mineral water flow.