Its privileged location has made it a place of great military strategic value, as various peoples who settled there sensed. In the 3rd century, it was a Roman palace from the Roman era, and during the reigns of Alfonso VI, Alfonso VII, and Alfonso VIII, it was restored and expanded.

In the 19th century, Queen Isabel II ceded part of the Alcázar for the establishment of the 'Infantry College,' but the political revolution of 1854 halted the construction. In 1887, the Alcázar suffered a tremendous fire, which started in the library and quickly spread throughout the building, almost completely destroying it.

Today, it houses the Library of Castilla La Mancha, the collections of the Army Museum, and multiple halls with interesting exhibitions. In addition to military history, one can still see bullets from the Spanish Civil War embedded in the walls of the Alcázar.

Guided tours are available, and it can be visited from Monday to Sunday from 10:00 am to 5:00 pm.