The castle was first mentioned in 1192, under the name of Lower Limbach (Lendava), and was owned by the Hungarian counts Bánffy until the middle of the 17^th century. They were succeeded, through inheritance, by the counts Nádasdy. However, Ferenc Nádasdy was executed in Vienna in 1671, due to his participation in the Zrinski-Frankopan Conspiracy, and the castle  and its surrounding lands, went back to the crown.

The present castle dates from 1690–1707, when it was rebuilt by the Esterházys, after the withdrawal of the Turks from the area. It was rebuilt in an L-shaped building as a gesture of their loyalty to the Emperor Leopold I. The castle remained in the Esterházy family until World War I. 

Today, Lendava castle is owned by the municipality of Lendava, and is managed by the Lendava Gallery-Museum. 

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