The castle, or rather a fortified court in Candleston, was founded in the 14th century on the initiative of the Cantilupe family. It could have been built on the site of an earlier building from the 13th century. At the end of the fifteenth century, it was renovated and rebuilt by Mathew Cradock, a constable of castles in Caerphilly and Kenfig, and around 1500 transformations were made in the range of the great hall. Further modifications were carried out in the 17th century, when a new range was added next to the hall building. The lands of the estate in the Middle Ages were covered with sand from nearby dunes and lost their value, but the building remained inhabited until the 19th century. The last person living in the court was Sir John Nichol. When in 1808 he built a new residence, Candleston was sold and used by new owners as a farm. Eventually it was abandoned at the end of the 19th century and fell into disrepair.
References:Sigmaringen Castle was first mentioned in the year 1077 in the chronicles of Petershausen monastery. The oldest parts of the castle are concealed beneath the alterations made during the 17th and the 19th centuries. The secret of the earliest settlement built on this defendable rock will never be fully revealed: large-scale excavation work would be necessary, which the extensive land development renders impossible. Judging from the many Roman remains unearthed in the area around Sigmaringen, the 12th century keep known as the 'Roman Tower' could be traced back to a Roman predecessor.
The castle remains that have been preserved (gate, great hall and keep) date back to the Staufer period around 1200. The castle remains were integrated into subsequent buildings. The foundations of the castle buildings are to a large extent identical to the surrounding castle wall.
These remains give us a good idea of how the castle might have looked during the 12th century.