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Helmond Castle was built around 1402 by a member of the Van Berlaer family to replace their first castle, of which remains were found during excavations some 250 meters to the southwest. Because the Lords of Helmond had chosen the Spanish side during the 80-Years War, the town was taken after a siege by the State troops in 1581. The castle however, withstood the siege and so the State troops left the town. In 1587 they returned and again sieged the castle without results. This shows that in spite of its thin walls the castle must have been well situated from a military viewpoint.

Since 1982 the castle is no longer used as a town hall, although marriages are still performed in the castle, but is now used for ceremonial purposes. It also houses a small museum about the history of the castle and the town in its cellars and an art gallery.