Till 1357 it was a royal castle which then changed owners. In 1514 the estate was bought by Christopher Švamberk who owned also Zvíkov Castle.

The town was founded by Přemysl Otakar II . On site Pisek castle and church participated the same building works as on Zvíkov.

The premonstratensian monastery in Milevsko is the oldest order house in South Bohemia.