Between 1470 and 1480, during the fight for the throne between the supporters of Juana the Beltraneja and those of Isabel the Catholic, many nobles constructed castles or reinforced those already existing; among them, that of Arroyomolinos, who belonged to Gonzalo Chacón, butler of Isabel la Catolica (this was granted by the lordships of Arroyomolinos and Casarrubios del Monte in recognition of their faithful services).
Built with brickwork in Gothic-Mudejar style and rectangular plant with rounded edges, it has five floors and is topped by a terrace. Inside there are compartments and rooms that were used as warehouse and residence.
For a long time, the keep was the only visible part of what was originally a castle. Archaeological excavations carried out in recent years have revealed that the tower was defended by an artillery barrier and a large moat. The complex also had two auxiliary buildings located on both sides of the tower, one of stables and another of kitchens.
At present it is part of the Network of Castles of the Community of Madrid.