During the pre-Roman era, the site was occupied by a
castro founded by the
Turduli peoples. By the 12th century, the land was already occupied by
Leonese forces. This solution, by its scenographic and authoritarian symbolism transmitted regal authority in the region. Parallel with the perimeter wall, the generally circular and singular tower were "oriented toward the settlement, protecting the unique flank where access was possible". But, even as Belmonte became the seat of their power, resulting the construction of their seat, in Castelo Melhor, little remained. Around this time (1527), Castelo Melhor was mentioned in the
Cadastro da População do Reino (
Kingdoms Population Cadastre) as being a part of the town of Almendra. In 1584, it was elevated to the status of seat of the countship, in favor of Rui Mendes de Vasconcelos. During the context of the Restoration Wars, in 1640, an artillery battery was constructed on the eastern flank of the hilltop. In the 18th century, Castelo Melhor was already a subordinate to Almendre and its donataries were the
Counts of Castelo Melhor. On 17 April 1758, in the
Memórias Paroquiais, signed by the parish priest, José Gonçalves da Guerra, the settlement was acknowledged as a donatary fiefdom of D. José de Caminha Vasconcelos e Sousa, Faro, Távora e Veiga, Count of Castelo Melhor, and included a population of 89 residents. The castle was granted the title of seat of the county, without garrison, but defensible by necessity. In 1766, the town was elevated to the status of
march in favour of the 4th Count, José de Vasconcelos e Sousa Caminha da Câmara Faro e Veiga (the last titular was the 7th Marquess, Elena Maria de Vasconcelos e Sousa Ximenes). In 1855, the municipality of Almendra e Castelo Melhor was extinguished, in favor of the municipality of
Vila Nova de Foz Côa. ==Architecture==