The oldest known document dates from 1062 and is a Royal Bond issued by the king Sancho Garcés IV of Navarre in which several houses/Crown land in Zarratón are ceded to the noble García Garcei. Here the appears the place name "Coscorrita".In 1086, in the tale of the miracle of Santo Domingo de Silos, a person called Servando is named as being a native of Cuzcurrita.the jurisdiction of Miranda de Ebro mentioned the existence of "Quosquorrita" at the end of the 11th century.On 15 November, 1367, the monarch Enrique II of Castille rewarded Juan Martínez de Rojas, by giving him Señorío de Cuzcurrita with all its territories and rights.
In the 16th century, under the reign of Phillip II of Spain, Pedro Velasco, ninth Señor of Cuzcurrita, by virtue of his marriage to Marta de Rojas y Osorio, founded an entailed estate mayorazgo, carving his herald over the door of the castle as can be seen today.