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Built by the Moors in the ninth century, was taken by D. Afonso Henriques, and it was then an important stronghold for the defense of the capital. It was later destroyed by Arabs. In the thirteen century, was built the current castle, donated to the Order of Santiago, keeping until today the medieval traces. Standing out from the set, are the citadel, the castle keep, the west tower, the "house of town council" the church of Our Lady of Consolation (which has tile panels), tanks, the "bread pits" and the olive press.
The Museum has a permanent exhibition of coins, pottery and bone, tweezers and loud, evidence of human occupation of the territory, the Paleolithic to the Middle Ages. It also has a space on the ‘Lapa do Fumo’, a natural cavity in Arrábida, occupied for about 6000 years, e.g. from the Neolithic to the twelfth century. In the Islamic period was probably a place of spiritual recollection and coastal watching.