In the 10th century, Antibes was under constant threat of attack by the Saracens, who maintained a permanent fortified settlement near Fraxinetum, near Saint-Tropez.
Rodoald and his family are thought to have been responsible for the construction of the tower for defensive purposes.
The Bishop of Grasse retained temporal jurisdiction until the time of Clement VII who, in 1383, transferred it to the Grimaldi family for 9,000 florins.
The original access door to the tower, located on the north face, has been walled over.
The Ministry of Culture listed the Grimaldi tower, together with the Cathedral and the adjoining chapel of the Holy Spirit, as a heritage monument by order of 16 October 1945.