The first written mention of Úsov is from 1260. The castle was built around 1250. Before 1487 the lords of Vlašim modified the castle. In the 16th century, Úsov was in the possession of the lords of Boskovice, an in 1597 it was acquired by the House of Liechtenstein. The Liechtensteins owned the castle until 1945.
The castle was damaged during the Swedish occupation in 1643. During the rule by Hans-Adam I of Liechtenstein, in 1692–1699, it was reconstructed and partially rebuilt into a large three-storey Baroque residence, designed by Domenico Martinelli.
The Church of St Donatus name refers to Donatus of Zadar, who began construction on this church in the 9th century and ended it on the northeastern part of the Roman forum. It is the largest Pre-Romanesque building in Croatia.
The beginning of the building of the church was placed to the second half of the 8th century, and it is supposed to have been completed in the 9th century. The Zadar bishop and diplomat Donat (8th and 9th centuries) is credited with the building of the church. He led the representations of the Dalmatian cities to Constantinople and Charles the Great, which is why this church bears slight resemblance to Charlemagne's court chapels, especially the one in Aachen, and also to the Basilica of San Vitale in Ravenna. It belongs to the Pre-Romanesque architectural period.
The circular church, formerly domed, is 27 m high and is characterised by simplicity and technical primitivism.