Nicastro's origins trace back to the 9th century, when Calabria was part of the Byzantine Empire, when a fortress called Neo Castrum ('New Castle') was created. In 1057, the area was conquered by the Normans, but Nicastro revolted against Robert Guiscard and his brother Roger. Having dominated the revolt, the new nobiliary had the castle built, which was restored in the 13th century by Frederick II of Swabia. It served as the place of imprisonment of Frederick II's son Henry.
The castle was destroyed by the disastrous earthquake of 1638 and lies today in ruins.
The first written record of church in Danmark locality date back to the year 1291. Close to the church are several stones with a Christian text and cross inscribed. The oldest parts of the present red-brick church are from the 1300s. In the late 1400s the church was enlarged to the appearance it has today. The church has been modified both internally and externally several times, among other things after the fires in 1699 and 1889. There are lot of well-preserved mural paintings in the walls.