The castle was erected at the turn of the 13th and 14th centuries, situated above the settlement located between 1288 and 1333 under the Środa privilege, as part of the activities of the Benedictines of Tyniec and due to the privilege of Prince Leszek the Black. The first record of the castle from 1356 mentioned the burgrave of Czchów, Imram. The castle certainly protected the customs house on the Dunajec River, mentioned in written sources since 1327. It was an important trade route for goods imported from Hungary, running south through Nowy Sącz, Poprad and Koszyce, and north through Lipnica Murowana, Bochnia and Kraków. Probably the founder of the town and the castle was King Wenceslaus II, who founded Lipnica Murowana and Wojnicz, and also founded castles in Rytro, Dobczyce, Biecz, Myślenice and Czorsztyn.
During the fourteenth century, the development of the castle and the town was dynamic. During the reign of Casimir the Great, there was an expansion of the stronghold and the construction of a defensive wall or ramparts around the town, as well as a Gothic church in the place of an earlier Romanesque one. In 1328, the seat of the then appointed land court was placed in the castle, and from around 1360, the seat of the Czchów starosty, which existed until the first partition of Poland in 1772.
Until the mid-16th century, Czchów was in its heyday as the administrative seat of the royal estate, although the lease of the castle and the royal town by the Melsztyński family had a negative impact on its development. In addition, the location of the rival Zakliczyn in the place of the former village of Opatkowice caused the collapse of markets and fairs in Czchów. The degradation of the castle buildings began in 1646, when the land court ceased to function there. Then, in the years 1655-1660, the war with Sweden brought destruction. In the 18th century, the building was already in ruin, although royal inspectors were still considering the possibility of its reconstruction. Unfortunately, the starost of Czchów erected a new court building on the town market square, so from that time only the castle tower, in which the prison functioned, was used.