Sanada Masayuki, a vassal of Takeda Katsuyori captured the castle in 1580, and most of the Numata clan perished in a failed attempt to retake their ancestral home the following year.

In 1589, Toyotomi Hideyoshi attempted to arbitrate the dispute by giving Numata to the Hōjō and awarding nearby Nagurumi Castle to the Sanada.

Sanada Nobuyuki comprehensively rebuilt on a vast scale Numata Castle in 1597, incorporating stone walls and a large five-story donjon and several three-story yagura.

In 1912, a former samurai in the service of the Toki clan, Kume Tamenosuke, purchased the castle site, and he donated it to the town of Numata in 1926 for use as a park.

The park contains the Ubukata House, an Edo period structure that was once used as a pharmacy in the Numata castle town.