Egeskov was first mentioned in 1405. The castle structure was erected by Frands Brockenhuus in 1554.
Due to the troubles caused by the civil war known as the Count's Feud (Danish: Grevens fejde), general civil unrest, and a civil war introducing the Protestant Reformation, most Danish noblemen built their homes as fortifications. The castle is constructed on oaken piles and located in a small lake with a maximum depth of 5 metres (16 ft). Originally, the only access was by means of a drawbridge. According to legend, it took an entire forest of oak trees to build the foundation, hence the name Egeskov (oak forest).