The castle was founded in 1265 by Přemysl Otakar II. Zaviš of Falkenštejn lived here with his second wife, Elizabeth of Hungary, from 1287 until his execution in 1290.
Late Gothic extensions were added at the end of the 15th century, and later the castle was rebuilt in the Renaissance style.
After a fire in 1842, it was restored in the Imperial style.
The castle precincts today contain the Old Palace, the House of Arms, the Watch-Tower, the new Imperial Palace etc.

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