The castle was first mentioned in the 12th century. The present fortress was constructed by Godfrey of Hellebeek between 1300 and 1310 as a defensive base for Brussels. The castle was damaged during the war of succession of Brabant (1356-57), but was repaired just after that. During the rebellion against Maximilian of Austria, Beersel supported Maximilian, and the castle was besieged, taken and plundered by the troops of Brussels in 1489. It was only partially destroyed, and was restored after the war.