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In 1376 Sir John Lyon built a L-plan tower house on land granted to him by Robert II on his marriage to the king's daughter, Joanna.  Their grandson was made 1st Lord Glamis and since that time the family, later earls of Strathmore and Kinghorne, have owned and lived at the castle.  

In 1540 Lady Janet Douglas, widow of the Earl of Glamis was seized by James V and burned at the stake as a witch.  The king took over the castle and all the riches of the wealthy family and lived there for four years.  After the king's death Lady Glamis was proved innocent and the castle and its considerably despoiled estate was returned to the Lyon family.  The family were soon reconciled with the monarchy and in 1562 James V's daughter, Mary Queen of Scots, and her entourage were entertained at the castle on their journey north to Huntly. 

James VI was a frequent visitor  and in the 17th century the family's favour with the king meant that the 9th Lord Glamis, later Earl of Kingborne, was able to embark on the task of remodeling the entire castle.  The original tower was preserved but enlarged. The work was continued by his son, the 2nd earl, who used travelling Italian craftsmen to create the magnificent plaster ceilings.  However, the 2nd earl disastrously spent his fortune on   Montrose's cause and on his death his son Patrick, later Earl of Strathmore and Kinghorne, inherited huge debts.  However, he recovered from this and was able to complete the work started by his grandfather.  The central tower was heightened and a west wing and chapel added.  The work carried out on the castle during the 17th and 18th centuries, decorated with turrets and battlements, gives the building the feel of a French chateau. 

The castle is associated with Macbeth.  Duncan's grandfather Malcolm II is said to have been murdered at Glamis in a room still called King Malcolm's room.  Today the castle is best known as the family home of Queen Elizabeth, the Queen Mother.  She was the youngest daughter of the 14th earl and Princess Margaret was also born at the castle.