A noble family named Taufkirchen is recorded as living in the town in the 11th century.

The first mention of the castle and parish in one document dates to 1263, describing a dispute between Bishop Conrad II, Count of Wittelsbach, and Grimold von Taufkirchen over the rights to occupy the Taufkirchen, described as "iuxta castellum eius" (near the castle).

This family expanded the original building, and added a chapel.

The castle then passed to the Barons of Puech, who brought wealth into the town.

After lengthy negotiations with the government of Upper Bavaria, on 17 January 2005 the castle was sold to the private owner Nico Forster of Kraiburg.