Château du Haut-Ribeaupierre is the oldest of the Ribeaupierre's castles, its existence being known from 1084. It was constructed on an ancient Roman site. Then known as the "Altenkastel", it was Anselme de Ribeaupierre who took possession of the castle in 1288. Around 1368, Brunon de Ribeaupierre became owner. Dedicated to a ferocious hatred for the English, he imprisoned Sir John Harleston, who had an imperial safe conduct, in the keep from 1384 to 1387. He was only freed with the payment of a large ransom and after pressure from the Holy Roman Empire. At the end of the 13th century, the castle became a residence of the Ribeaupierres. Another noted prisoner was held in the keep in 1477. Philippe de Croy, Count of Chinay, ally of Charles the Bold, was captured by a Ribeaupierre at Nancy.
Most of the castle today is completely ruined and surrounded by dense vegetation.