According to some scholars, the Rock of Malcesine was build the last centuries of the first millennium BC. More reliable is that a castle was built by the Lombards, in the mid-first millennium AD.
The castle was destroyed by the Franks in 590. It was rebuilt by themselves and in  '806 King Pepin, who came to visit the Saints in Malcesine Benigno and Caro, was housed in it. After the invasions of the Hungarians, it became part of Verona'e bishop feuds.
In 1277 came under the rule of Alberto della Scala and remained in his family until 1387. Refurbish works done in this period gave the castle the name of "Castello Scaligero".
The Visconti of Milan occupied it from 1387 to 1403.
The Republic of Venice incorporated it in 1405. The Empire regained it in 1506. He returned to the Republic from 1516 to 1797. Then the French came. In 1798 was risen by the Austrians, who performed substantial work on consolidation within the castle and there they remained until 1866. From that year followed the fortunes of Venice.
On August 22, 1902 was declared a National Monument.