Kamenice nad Lipou lies in the northwestern region of the Bohemian-Moravian Highlands, some twenty kilometres north of Jindřichův Hradec, in Pelhřimov District.

The chateau acquired its present Neo-classical appearance in the early 19th century.

In 1580–1583, the original 13th-century castle was converted into a Renaissance mansion graced by a courtyard with arcades and a garden. The Baroque entrance tower was built in 1744. The chateau is surrounded by an English landscape garden featuring a linden tree estimated to be 700–800 years old. Kamenice nad Lipou derives its name from the tree. In 1998, the chateau came under the management of the Museum of Decorative Arts in Prague (UPM). Following extensive restoration work carried out between 1998 and 2004, permanent collections were installed on the ground floor of the Renaissance north wing, where the Museum also holds short-term exhibitions. The south wing of the chateau houses exhibition installations administered by the Municipal Museum, and the Ceremonial Hall. The cellars with their Gothic Hall are also open to visitors.