Madenburg Castle, presumably founded as an imperial castle, was first mentioned as "Parthenopolis" (Maiden Castle) in 1076. A short time later, it came into the possession of the bishops of Speyer. The castle, named in 1112/23 as "Castrum beat(a)e Mari(a)e" and finally mentioned in 1176 in connection with a Countess Madenberg, the wife of Count Eckeberg, briefly came into the possession of the Hohenstaufen dynasty around 1200, who acted as bailiffs in the Speyergau. In 1240, the Madenburg castle became a Leiningen fiefdom and finally came to the House of Leiningen as an allodium around 1275. In the course of the Leiningen partition in 1317/18, the castle falls to Friedrich V von Altleiningen from the Leiningen-Dagstuhl line. From the end of the 14th century, Madenburg Castle is a Ganerbenburg, in which several dynasties hold shares (e.g. Sickingen and Fleckenstein). In 1470, Friedrich von Rosenberg zu Essingen conquered the castle on behalf of Elector Friedrich the Victorious. In 1511, Duke Ulrich von Württemberg and in 1516 Bishop Georg von Speyer and the Count Palatine of the Rhine were the owners of Madenburg Castle.

Madenburg Castle remained in the hands of the Bishopric of Speyer until 1797/1800. After it was plundered during the Peasants' War in 1525, the Bishops of Speyer had the castle restored and extended by 1530. In 1552, the castle was damaged by Margrave Albrecht Alcibiades of Brandenburg-Kulmbach. During the Thirty Years' War, troops led by Colonel Peblis conquered the castle. This is followed by occupation by Spanish, Austrian, Swedish and French troops. After the Bishop of Speyer, Philipp Christoph von Sötern, retook possession of the castle in 1650, Madenburg Castle was destroyed by the French during the War of the Palatinate Succession. In 1826, citizens from Eschbach acquired the castle and the castle hill. In 1870, the Madenburg Association is founded. In 1885, a castle museum is opened in the Philippsbau (until 1970). New concept for a castle museum in the armoury in 2003. Extensive renovation work has been carried out since 1994. (Jens Friedhoff)

The oldest parts of the Madenburg date back to the 13th century. Parts of the 13th/14th century walls are still preserved on the north side of the castle and on the inner shield wall as well as on the curtain wall on the west side. A remnant of the 13th century keep has also been preserved. The castle chapel, still preserved in its surrounding walls, most likely dates back to the 15th century. In 1415, sources report a chapel dedicated to St Nicholas at Madenburg Castle. The remodelling and expansion of the complex in the 16th century includes the "Philippsbau", completed in 1550, and the "Eberhardsbau", named after Bishop Eberhard von Speyer, with its two stair towers from 1593 and 1594. The outer shield wall built in 1560 and the outwork in the outer moat reflect the expansion of the castle into a fortress. (Jens Friedhoff; Dieter Barz)

With an extension of 180 metres in length and 50 metres in width, Madenburg Castle is one of the largest castle complexes in the Southern Palatinate. The complex consists of a main castle with an outer bailey to the south. Both complexes are surrounded by an enclosure. The castle is separated from the adjoining mountain massif to the north by an outer moat. Here there is a strong outwork with gun emplacements (barbican). Above the moat rises the younger, acutely angled shield wall built around 1560 (height 12 metres; thickness 5-7 metres). The inner moat of the medieval castle lies behind the shield wall of the outer bailey. The foundations of some farm buildings can be recognised on the west side. Directly adjacent to the angled second medieval shield wall (humpback ashlar; lower part of the wall probably 12th century, upper part 14th century) is the pentagonal north keep (humpback ashlar, 2nd half of the 12th century), the remains of which have been preserved. A ramp leads from the outer gate to an advanced circular barbican, which secured access to the castle. It probably dates back to the 1st half of the 16th century. The upper main gate shows the remains of three superimposed gates from different construction periods (1st half of the 13th century to the mid-16th century). Another gate, now destroyed, led into the lower southern courtyard. The outer bailey contained various residential and farm buildings as well as the remains of St Nicholas' Chapel on the western wall. To the south of the current entrance, behind the well house, stood the square south keep with its carefully hewn, cushion-shaped humpback ashlars. The upper bailey, which can be reached via a staircase, is separated from the outer bailey by a massive transverse building containing the remains of an older tower. The storeys of the building reveal the remains of Gothic ribbed vaults. On the east and west sides is the Eberhard building, built mainly in the 16th century, with two polygonal stair towers (1593 and 1596).

The kitchen building serves as the western edge of the courtyard, which is adjoined to the north by a residential building with Renaissance window walls. (Jens Friedhoff)