From the ancient castle, dating back to the 12th century, traces of the ancient walls remain. Consisting of a fortress and a high tower, the castle was once under the jurisdiction of the Pope. But it was often the subject of political and military disputes and passed in vicariate to various noble families, such as the Ordelaffi, Montefeltro and Malatesta. At the end of the Middle Ages the Duke of Urbino incorporated among his possessions the territory of Montepetra, together with that of Rontagnano.