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There may have been a royal residence here on King’s Seat Hill from as early as the 1150s-1160s. A castle was mentioned in a charter of about 1250, but it is likely the earliest part of the present tower was built some time after 1359 by Sir Robert Bruce. It was raised in height in the 15th century and the taller south wing was constructed. A new mansion was built to the west of the tower in the late 16th century. Other changes were made during the 17th century. The tower remained in the Bruce family until 1791, after which it was sold to the Marquis of Zetland, but house and tower were abandoned and the house demolished by 1841. Mine workings led to subsidence and a major collapse of the east side of the tower in 1948. It was taken into the guardianship of the State in the 1950s and substantial repairs were undertaken. It is managed by Historic Environment Scotland.
The building and surrounding area is listed as a Scheduled Monument Link. See also Canmore Link.