As a lookout post, we can consider it related to the origins of Málaga as a human settling.

It must have already existed previous to the Roman dominance, but the Arabs gave it a structure of strength. The mount received the name of "Jabal-Faruk" (lighthouse mountain), from where it is said its current name comes. In the first half of the XIV century, Yusuf Y built the castle and other outbuilings.

The Catholic Kings choose the Castillo de Gibralfaro for the coat of arms they gave the city in 1494.