The castle of Androusa, built at the edge of the Messenian plain, near the village of Androusa, is mentioned in the Chronicle of the Morea as having been built by the Frankish prince Guillaume II de Villehardouin (1245-1278). Its location, albeit not being naturally protected, offers easy control of the fertile valley. The castle reached its heyday during the 14th cent. AD, being, towards its end, the messenian base of the mercenary Navarrese Company. In the early 15th century the castle came under the rule of the despots of Mystras, and fell to the Ottomans shortly afterwards. Its walls have a trapezoid ground plan that follows the contour lines of the terrain. The northern and eastern sides are best preserved, arranged with blind arches to support the battlements. The arches are pointed, and embellished with interesting ceramoplastic elements. The walls were reinforced with towers (square, circular or polygonal).

The south-eastern tower had probably the role of a donjon (a fortified tower or keep) and was the oldest fortification of the castle. The walls and the remaining towers were added at a later period. A large section of the eastern flank should probably be dated to the 14th century AD. It seems that the northern wall, along with its towers, were rebuilt in the 15th century in an effort to meet the new defensive standards after the introduction of the gun technology. The north-western tower is the second largest of the total six surviving ones. Its morphological and structural features indicate that its construction dates to the 16th century.