The settlement arose from a Roman "castra" in the Noricum province, at the mountain road from Teurnia to the Radstädter Tauern Pass and Iuvavum (Salzburg). Mauterndorf was first mentioned in a 1002 deed, Mauterndorf Castle was acquired by the Salzburg archbishops in 1023, who set up a toll ("Maut") station and ceded the inhabitants market rights in 1217. From the 15th century, the fortress was significantly enlarged as a stronghold at the behest of the archbishops Burkhard Weisbriach and Leonhard von Keutschach.