Altidona belonged to Fermo, to the Abbey of Farfa in Sabina, then again to Fermo. Initially the castle of S. Biagio in Barbolano was built which sank into the sea in the early Middle Ages or perhaps was demolished by the Altidonesi. After the twelfth century, the inhabitants of the city of Altidona gave life to a new castle around the parish of Santa Maria and San Ciriaco, which was built on the hill of the present city. In 1507 it is under the influence of Fermo as a second class castle.
The medieval walls of the castle are well preserved. Also worth seeing are the Belvedere, a medieval watchtower overlooking the Aso Valley, and the table, attributed to Vincenzo Pagani, depicting the Madonna and Child, two saints and donor preserved in the parish church. Villa Montana and the Roman cistern are located in the ancient district of Barbolano.