In 1255 Bel Mura court was mentioned for the first time, however it is not necessarily meaning today's Murska Sobota.
In 1265 the estate Belmura was mentioned for the first time.
Stephan from Lower-Lyndua Buzád-Hahold family owned the estate in 1297. The church of St. Nicholas at estate Belmura was then mentioned for the first time.
In the period 1307–1342 Nicholas I. from Amadé Gutkeled family combined the estates Gornja Lendava and Murska Sobota.
In written sources from 1348 Murazombatha was mentioned for the first time.
1365–1366 the Széchy family received the estate Belmura with Murska Sobota from the king Louis I. Anjou.
Mura Zombotha court mentioned in written sources from 1398.
In 1478 castellum in Belmwra – a Belmura castle was mentioned.
A Murska Sobota castle mentioned as castellum Mwrayzombath for the first time in written sources from 1498.
The building of the renaissance castle presumably began between 1540– 1570, when owned by Margaret Széchy and her two husbands.
Thomas III. Széchy of Rimaszéch family branch inherited the estate in 1570.
In 1652 Murska Sobota has been divided between Széchy family of Rimaszéch and Batthyány family.
In 1669 the owners of the castles Gornja Lendava and Murska Sobota are Peter, Jasper and George Széchy de Rimaszéch.
After the last male descendant, Peter, died in 1685, the owner of Murska Sobota was Julianne Széchy, his sister, and her husband count Francis Kéry.
In the year 1687 Peter Szapáry bought the estate with town and castle Murska Sobota, market town Martjanci, 39 villages and 3 desolates for 35.000 Forints.
Peter Szapáry bought the dominion Szécsisziget and became a baron in 1690.
The Szapáry family received the count title in 1722.
The dominion Murska Sobota is in 1730 divided between families Szapáry with Murska Sobota castle and Batthyány with Rakičan castle.
Almost all of the castle’s furniture and equipment was sold out at the auction of Szapáry’s property, which began in 1930.
The Municipality Murska Sobota bought in 1934 the castle for its purposes.
Between 1941–1945 a court of law and a prison were stationed in the castle.
In 1996 the Murska Sobota castle was registered as a local cultural monument, owned by the Municipality Murska Sobota.
Since 2017 the castle has been managed by Pomurje Museum Murska Sobota.