In 1071, a Benedictine monastery was built on the site of today's castle. As early as 1700, a chronicle mentions the baroque pleasure garden. A special feature in the 19th century was that the palace garden was "open to everyone for a stroll".

Duke Johann Ernst von Sachsen-Saalfeld took over the residence in Saalfeld from 1680 until his death in 1745. In the division of the land in 1826, the castle and its garden came to the Duchy of Saxe-Meiningen and remained under its sovereignty until 1918.

The baroque palace chapel in the former Saalfeld Residential Palace is also worth a visit. With its rich sculptural and painterly decoration, it is one of the most mature achievements of Protestant Baroque church building in Thuringia. The magnificent ceiling painting, as well as the frescoes on the walls, are by Carlo Ludovico Castelli. Today, the castle chapel is used for concerts and as a prestigious event space.

A chronicle mentions the baroque pleasure garden as early as 1700. A travel guide states: "The palace garden is open to everyone for a stroll and is an ornament to the town. In addition, the beautiful view, which is offered to the pleasure walker, provides a pleasant enjoyment".

The garden was framed by several buildings such as the Kavaliershaus, the orangery and the former stables building with the riding arena, which were built between 1695 and 1710. The palace park was transformed into a cultural park in 1963/64. The pond was created and aviaries and a game enclosure were built.

Today, Saalfeld Castle is the seat of the administration of the district of Saalfeld-Rudolstadt.