The area was inhabited since Upper Palaeolithic times. In early medieval times, the current frazione of Licosa was a base of the Saracens, who were defeated here in 846 by a coalition of the Duchy of Naples, Amalfi, Sorrento and Gaeta.

The history of the current Castellabate is tied to Saint Costabile Gentilcore (St. Constabilis), fourth abbot of La Trinità della Cava. In 1123, the same year in which he was elevated to the position of abbot, he started construction on the Angel's Castle (10 October 1123), which afterwards became entitled to him. His title gave the village its present name: Castrum Abbatis, Latin for "the castle of the abbot". His abbacy lasted until 17 February 1124. His successor, Simeon, completed its construction and helped the inhabitants.

Later, Castellabate fell under the control of the barony of the Cilento. It then passed, in turn, to Caracciolo, Loffredo, Filomarino, Acquaviva, and finally the Granito family (who carried the title of marquis and later became princes by marriage) in 1745. Castellabate remained in the family of the Prince of Belmonte until the end of the feudal era.

Castellabate borders with the municipalities of Agropoli, Laureana Cilento, Montecorice and Perdifumo. It counts the hamlets (frazioni) of Alano, Licosa, Ogliastro Marina, Santa Maria and San Marco; and the localities of Lago and Tresino.

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