On a promontory rising high escarpment of the Vistula in the early Middle Ages, probably from the early eleventh century, there was a castle surrounded by a wood-earth fortifications, within which there were brick buildings. At the turn of the eleventh and twelfth century, once housed a one of the main headquarters of Polish kings, and since 1194 years - Mazovia, existed within the castle chapel and a brick apartment building.

At the end of the thirteenth century began to build the castle, which took the final form of a brick at the time of Casimir the Great. At the site of the former castle was built proper brick castle with two towers. In the south-western corner tower House stood at the bottom of a square, octagonal above. In the corner of the north, the site of the Romanesque building was located princely Clock tower. Among them were bent wing of the Northwest, and the other two wings closed courtyard from the east and south. The whole area of early middle ages with the main castle was surrounded by a double ring of the outer walls, forming closely associated with the castle bailey.

The castle was the seat of the dukes of Mazovia to the end of the fifteenth century. As a result of the lower part of the slope in 1532, the castle was damaged, was rebuilt in 1538 years the princes lived in a new palace built in the southern corner of the castle grounds and the castle buildings were donated to the Benedictines.

During the wars with the Swedes, the castle was severely damaged, first in 1657 and then in 1705. After the renovation was established here baroque Benedictine abbey that existed for 1781 years. After entering the boundaries of Prussia Plock authorities demolished part of the walls. Since 1865, it housed a seminary yet.

After the Second World War the castle was renovated and in 1973 years was placed in a museum.