Originally Gothic in style, founded in the early 15th century to be a seat of Mazovian Dukes. The extension works started in 1568 on the initiative of King Zygmund August; its considerable remodeling took place during the reign of King Zygmund III who transferred the capital of Poland from Kraców to Warsaw. The works were carried out in the years 1598-1619 under the guidance of the royal architect Jan Trevano. A huge five-wing, early Baroque construction was erected with an inner yard and a tall clock-tower. The castle had a function of an official royal seat and the seat of a number of Commonwealth offices. In the mid-18th century its northeastern wing was remodeled for King August III according to Gaetano Chiaveri's design: it received a new late Baroque appearance. The official interiors of the castle acquired their final shape during the reconstruction works carried out during the reign of King Stanisław August Poniatowski. In the years 1765-1794 a sequence of chambers and rooms were prepared and furnished in the eastern wing according to a design by Dominik Merlini and Jan Christian Kamsetzer.

The Third of May constitution was passed here in 1791. During the inter-war period the castle was the seat of Polish presidents. On September 17, 1939, it was bombed and burnt, its destruction was completed on October 25, 1944, when the Nazis set explosives in the castle walls and blew it up. The reconstruction works were undertaken in 1971 and carried out under the guidance of Jan Bogusławski. The interiors were faithfully reconstructed and furnished thanks to the donations and effort of the whole Polish nation.