No mention is made of the village before the year 1000 and ancient sources refer to it simply as Castello, sign of its strategic importance. For a long time Minucciano was an important garrison for the Republic of Lucca as it controlled a relatively remote area bordering on the Lunigiana possessions of the Malaspina family. After a period of subjection to Castruccio, Minucciano returned under Lucca and remained loyal until the middle of the XIXth century. Its layout is that of a typical fortified village with a rocca crowned by a tower, sometimes referred to as donjon, that represented the safest place of the whole complex.
Since the XVIIIth century, with the slackening of political tensions between the Dukes of Este and the Republic of Lucca, for the ancient fortress of Minucciano, as for many others, began a slow and inexorable process of decline: parts of the walls were incorporated into private buildings, others pulled down to make way for new roads or gardens; the rocca and the tower remain, significant witnesses of the villages past.