Urado Castle was built at the end of the Kamakura period (1185-1333) as a castle for a local family.
During the Warring States period it was under the control of the Motoyama clan.
In 1560, Chosokabe Kunichika attacked and occupied the Urado castle, making it a branch of his Okatoyo castle in the Nagaoka district.
In 1588, Motochika, who succeeded Kunichika, moved to the Otakasaka castle.
Then, in 1591, he moved them again this time to the Urado castle, which became the main castle of the Nagasokabe clan for about ten years until the fall of the clan.
In 1600, Motochika's son Morichika, who had fought for Toyotomi in the Battle of Sekigahara, was expelled from the castle and the Tosa area was given to Yamauchi Kazutoyo.
The Urado revolt of the surviving members of the Chosokabe clan was put down.
Construction of Kochi Castle began in September 1601.
The clan moved to the Kochi Castle when it was completed in 1603, and the original Urado castle was abandoned.
