A certain Marescotti commissioned the construction of the castle of Belcaro around 1190. In the following centuries, the castle was assaulted and plundered several times.

In 1376, Saint Catherine of Siena, to whom the castle had been given, converted it in a nunnery dedicated to Saint Mary of the Angels. After having been acquired by the Salimbeni family, the castle was then destroyed during popular riots.

Banker Crescenzo Turamini bought the estate in 1525 and commissioned architect Baldassarre Peruzzi to build a villa on the ruins of the ancient castle.

The structure was again converted in a fortress after 1554, when Cosimo de` Medici conquered it, as says a plaque on the walls.

The Camaiori family acquired the castle in 1710 and in the 19th century commissioned architect Serafino Belli to renovate the building in Neo-Renaissance style. A few decades later, Giuseppe Partini was commissioned to renovate the walls and the entrance porch.

Inside the walls, apart from the owner`s villa and some buildings standing around the garden and two courtyards, there are a chapel decorated with sacred images and an arcade decorated with frescoes representing mythological subjects. The villa is decorated with a cycle of frescoes by Baldassarre Peruzzi, the most famous being the "Giudizio di Paride" (Judgement of Paris).