It was built on the orders of King Kazimierz Wielki. Later it became the property of the Szafraniec family. It underwent alterations to become a residence. An arcaded courtyard and picturesque logia (open sided gallery) were added. Mikołaj Zebrzydowski, another owner of the castle carried out further alterations changing it into a stronghold with bastions. In spite of many fires which befell the castle it has survived until our times almost unchanged. Today it houses a museum of historical interiors - a section of the Royal Castle Museum in Wawel. The best view of Pieskowa Skała is from the valley below the castle, where a cudgel like rock stands called “Hercules’ Club” .