Ulstrup Castle traces its history back to the end of the 14th century when it was owned by Jens Brandsen.

Later owners include Queen Margaret I but the original house later disappeared and Ulstrup continued to exist as a village.

It was acquired by privy councilor Christen Skeel in 1579 and dissolved to make way for his new manor house which was built in 1591.

[1] The north wing of the complex incorporates Christen Skeel's original house from 1591.

[1] Since 1980, Ulstrup Castle has been reestablished as a manor house after much of the land was reacquired and the buildings thoroughly restored.