The castle in Pieskowa Skała was founded around 12th century. Who is the founder is hidden, only archaeological exclavations ans some written sources confirm existence of the castle in middle ages.
The name - Pieskowa, reflects first known owner called Peter. According to a legend he got the castle after a fight with Hungarian knight. Governing in that time Hungarian king Ludwig offered the castle to Peter as a sorrow for this act. Peter in old Polish language means Pieśko, Pieszko or Piesko, hence the name.
In Polish Pieskowa Skała means also 'Dogs Rock'. One legend explains that jealous uncle, being in love with Dorota, could not stand that Dorota is in love with other man. He killed his rival and prisoned Dorota without food in a solitary castle tower. But Dorota's dog was bringing food to her saving her from hunger. Unfortunately the uncle found the dog and kill it. Soon after Dorota died from hunger. Nowadays the place where Dorota was prisoned is called 'Dogs Rock'.