Pevensey Castle had once been a Roman fort and William the Conqueror landed near the castle in 1066. Before marching to Hastings William repaired the castle and used it to regroup his invasion force. After the Conquest William granted the castle to his half-brother Robert, Count of Mortain. Of the existing castle Robert found Roman walls 20 to 30 feet high and 10 feet in thickness. The castle was repaired and improved to such an extent that it proved to be hard to overcome. It stood up to sieges in 1088 by William Rufus and again in 1147 when King Stephen laid siege to it until the trapped soldiers, led by Gilbert de Clare, ran out of food.
William Rufus lay siege to Pevensey Castle where Odo had taken shelter with Robert of Mortain. The siege lasted for six weeks. Robert, the Duke of Normandy, sent a force to support the rebels at Pevensey but they were unable to land because the King had made sure the ports were well guarded. Robert admitted defeat and withdrew his support for the rebels. Odo had little choice, other than that to starve, and surrendered to the King. Odo agreed to go to Rochester where he would convince the rebels to accept William Rufus as the rightful King of England.
Following the defeat at the Battle of Lewes, Henry III's supporters fled and took refuge in Pevensey Castle. Simon de Montfort's son, laid siege to the castle, but could not take it.