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 Beckov castle stands on a steep 50 m tall rock in the village Beckov. The dominance of the rock and impression of invincibility it gaves, challenged our ancestors to make use of these assets. The result is a remarkable harmony between the natural setting and architecture.
The castle first mentioned in 1200 was originally owned by the King and later, at the end of the 13th century it fell in hands of Matúš Èák. Its owners alternated - at the end of the 14th century the family of Stibor of Stiborice bought it.
The next owners, the Bánffys who adapted the Gothic castle to the Renaissance residence, improved its fortifications preventing the Turks from conquering it at the end of the 16th century. When Bánffys died out, the castle was owned by several noble families. It fell in decay after fire in 1729.
The history of the castle is the subject of different legends.