Doune Castle was built in the late 1300's by Robert Stewart, Duke of Albany, brother to King Robert III of Scotland. It is believed that the castle may have been erected on the site of a previous fortification, since the name derives from dun meaning fort. This conclusion is reinforced by the remnants of prehistoric earthworks that have been found in the area around the castle. Although Doune was never completed to the original plan, it was built to last and is considered among the best-preserved medieval castles in Scotland.

The exact dates of construction are unknown. It may have been built after Robert Stewart was declared Guardian of the Kingdom by his father, King Robert II (circa 1386). Alternatively, work may not have begun until 1398 when Robert, previously known as the Earl of Monteith and Fife, became Duke of Albany.

The castle served as a hunting lodge for Robert and his guests and was built with all the accoutrements needed for protection and for daily life. In the north front of the castle are the gate tower, the main entrance, and primary housing area. They are laid out in the traditional L-shape of the Scottish tower house. From the courtyard, an enclosed stone staircase leads to the Lord's Hall. One end of the hall features a raised musician's gallery.

More staircases and passageways lead from the Lord's Hall to other rooms in the castle. Just above the Lord's Hall is the chapel which once featured a permanent altar on one end and statues in the wall niches. The Great Hall, on the first floor to the west of the Lord's Hall, was built for events with large numbers of guests. The kitchen is reached by a screened passage directly from the Great Hall, and contains a fireplace that covers the entire length of one wall.