Built 1694–1698 to the design of architect Nicodemus Tessin the Younger, the palace is directly inspired by Château de Vaux-le-Vicomte in France, and has a reputation in Sweden as one of the most elegant examples of Baroque mansions.
The estate has a history dating back to the 13th century and has seen many owners, but two families have strongly influenced the premises: those of Carl Gyllenstierna (1649–1735) and Axel von Fersen.
1680-81 the well known Swedish architect Nicodemus Tessin was commissioned to design the palace and the two wings.
In 1706 Carl Gyllenstierna married and gave Steninge Palace as a wedding gift to his bride, Anna Soop.
In 1873 Baron von Otter bought Steninge and a stone barn was built west of the palace.