The first written mention of Kamenice is from 1267. It was founded as a settlement below a castle in the early 13th century. In honor of a
linden tree planted in the castle garden in 1248, the settlement added
nad Lipou (meaning 'above a linden tree') into its name. Kamenice nad Lipou regularly changed its owners, who belonged more to the lower nobles. Notable was the rule of Jan of Šelmberk in 1476–1497, during which Kamenice obtained various rights and privileges, and the Malovec family, which had the Gothic castle rebuilt in the Renaissance style in 1580–1583. In 1623, the manor was bought by the family of Paradies of Escheide, which owned it for 70 years and oppressed the inhabitants and deprived the town of its privileges. The town economically prospered in the 18th and 19th centuries. In the first half of the 18th century, silver and iron ores were mined and subsequently
hammer mills were founded. In 1839, a
wool classing workshop was set up in one of the castle's wings. In 1875, glassworks replaced the hammer mills. In 1906, the narrow-gauge railway was built. ==Demographics==