This building and the old castle that preceded it were witnesses to the hunts carried out by the kings of Castile for centuries in the enormous territory of Real de Manzanares, where deer, wild boar and bears were a common sight. This privileged natural space was passed down over the centuries to the various municipalities that today make up the Sierra de Guadarrama.

The Castle was ordered to be built by Don Diego Hurtado de Mendoza, 1st Duke of Infantado, around 1475; replacing the aforementioned "old" castle, which was simpler, located on the other side of the town of Manzanares el Real, and also worthy of a visit accompanied by someone who can interpret it for us.

The new Mendoza castle is due, among other things, to the crucial participation of Juan Guas, master mason and architect to the Catholic Monarchs. He was responsible for the Gothic details of the crown and the interior of the castle, especially the southern gallery and the porticoed courtyard, which was very large for the time. It also has a church with three naves.

These spaces and beauties can all be contemplated today through the various activities that are held in the castle for the enjoyment of all citizens.