Soon after the Erkelenz was elevated to a town status in the 12th century, work began on the brick fortifications of the place. These probably consisted of basic ramparts as had been common since time immemorial for the defence of settlements. Although the castle was not documented until 1349, the town appeared to have developed under the protection of the castle.
The castle has 23 high keep, curtain walls and corner towers. It was part of larger city walls. It was badly damaged by French army in 1674.
Kakesbeck is one of the largest medieval fortifications in Münsterland and the oldest castle in Lüdinghausen. The imposingly grown complex originated in 1120 as a motte, a small hilltop tower castle. After numerous changes of ownership, the castle was extended onto two islands, but it was not until the 14th century that it underwent significant alterations and extensions under the von Oer family. The estate experienced its heyday in the middle of the 18th century, when it covered an area of almost one square kilometre and consisted of five further outer castles in addition to the core castle, which were secured by ramparts and moats.
The well-maintained condition of the castle today is thanks to the late Wilfried Grewing, the former lord of the castle. The foundation named after him has been particularly committed to preserving the property since 2020.