The castle was built between 1184 and 1201 by Heinrich Bodo von Idstein, who called himself "von Frauenstein" as early as 1221. The oldest depiction of the castle is from 1723 and shows the stone tower with a half-timbered structure and a steep hipped roof.

On this basis, the keep, which was only preserved as a ruin at the end of the 20th century, was extensively restored by the Frauenstein Castle Association. Today, the castle in the center of Wiesbaden-Frauenstein is a landmark and excursion destination. The interior rooms, which can once again be entered, house a small castle museum. The museum can be visited on Sundays between Easter and October.

There are still several manor houses from the late 16th century in the vicinity of the castle.