The castle of Lihula was first mentioned in 1211, but it appears the site was used as a fortress since the Iron Age. In 1220, a Swedish army started constructing a castle here, but were defeated by Estonian forces on 8 August 1220, in the Battle of Lihula.

In 1238 the bishop of Saare-Lääne constructed a crusader fortress at the site, in cooperation with the Teutonic Order. This attempt was more successful and the castle became one of the residences of the bishop. The Teutonic Order also used the castle as a centre of their commandry between 1241 and 1477. In 1560, the estate was reportedly granted to alderman Gerdt Bellingshausen by Duke Magnus of Holstein. In the course of the Livonian War, the castle was destroyed.

Photogrammetry reconstruction in RealityCapture from 318 images. © Saulius Zaura www.dronepartner.lt 2023