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The primitive human occupation of this stretch of coastline dates back to prehistory, conditioned by the existence of large estuaries, the fertility of the land and the wealth of fishing. In historical times, the Sesimbra cove would have served as a natural anchorage for the navigators of the Mediterranean Sea, Phoenicians, Greeks and Carthaginians. Subsequently, archaeological remains of ceramics are testimonies of Romanization, in particular amphorae, coins and graves, part of that estate in the castle area. Successively occupied by Visigoths and Muslims, these will have built the primitive fortification.

Castelo de Sesimbra also referred to as Castelo dos Mouros, is located in the village of the same name, parish of Castelo, municipality of Sesimbra, district of Setúbal, in Portugal.
The medieval castle stands in a dominant position on a cliff, over a cove that constitutes a natural port on the Setúbal peninsula, between the estuaries of the Tagus River and the River Sado, a few kilometres from Cape Espichel.

At the time of the Christian reconquest of the Iberian peninsula, after the conquest of Lisbon (1147), possession of this region fluctuated between Muslims and Christians. Weakly furnished, the fortification of Sesimbra was initially taken by the forces of D. Afonso Henriques (1112-1185) on February 21, 1165, who carried out repairs and reinforcements in the defences.

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