Thanks to a set of documents in which the “castro Audelino” or “castro Odelino” is mentioned, this castle is known to date back to at least the mid-10th century. As such, the name of the castle and municipality was derived from this original name. It stands on the upper crest of a hill that overlooks the natural pass between the Òdena basin and the Bruc mountain pass.
The castle is built on two different levels, following the profile of the rock. The upper section consists of a tower and a series of rooms, including a large water cistern. The most noteworthy feature in the lower section is the Romanesque church of Sant Vicenç, which boasts a spectacular façade with buttresses, lesenes and Lombard arches. A bastion-like polygonal construction stands in front of the church in the lower and more accessible part of the complex, protecting the entrance.
It is known that the lords of the castle in the 11th century were the Jorba family. At the end of that century they became related by marriage to the Cardona family, who possessed the castle from that time on. They appointed the Òdena family as its castellans but later on the powerful Castellolí family settled there, acquiring great power.
In 1003, Abd al-Malik, son of Almanzor, led a raid on the territories of the county of Barcelona. As he advanced he successfully attacked Castellolí Castle, killing (among others, presumably) the nobleman Audesind.