In 1165, Valdemar I, King of Denmark, gave the Order of Saint John of Jerusalem a large estate in Antvorskov.
Shortly afterwards, the Order built a large commandery there, which became its main residence in Denmark.
Its expansion was aided by large donations from all the local lords. Its influence in Danish political life was such that the prior of the commandery was often called upon to sit on the Council of the Kingdom.
In the 13^th and 14^th centuries, the commandery became one of the most important landowners after the Danish crown.

At the beginning of the 16^th century, the Lutheran Reformation was imposed on the country after a three-year civil ⁽¹⁾. From that moment on, the commandery, which resembled an imposing monastery, was seized by King Christian III⁽²⁾, who transformed it into a royal castle.

In the 18^th century, the castle became a barracks for the Danish army, and at the beginning of the 19^th century, it was abandoned, fell into ruin and was finally destroyed in 1816.

Today, only a few ruins of the outbuildings remain, which have been identified as a bakery or kitchen and a warehouse. Archaeological work is underway to restore these ruins, preserve them and showcase them.