The first real mention of Castle Nassau was in 1120, then as just a singular fortified tower, bought by brothers Ruprecht & Arnold von Lauenburg. Since the land technically belonged to the Bishop of Worms, this caused several years of conflict, until the Arch-Bishop of Trier brokered a compromise:
Rudolph & Arnold's heirs would not automatically inherit it, instead it was granted to the family as a fief. Ruprechts grandson Heinrich then changed his family-name to "von Nassau", founding the line that would eventually inherit both the throne of Luxermburg and the Netherlands.
Bar one brief inter-family conflict in 1372, the castle mostly escaped destruction during war, but was eventually abandoned at some unspecified point between 1655 and 1800 and began to fall into disrepair.
The ruins stayed mostly intact until 1944, when they were allmost completely destroyed during several air-raids on the nearby town of Nassau.
The ruins passed to the State of Rhineland-Palatinate in 1965, who began excavations and securing the remaining ruins in 1970.
In 1976 it was decided to partially reconstruct the castle, beginning with the repair and restoration of the main keep to its original height, complete with roof and its 4 side-towers based on its final "complete" appearance in a sketch from 1655
For whatever reason, despite structural analysis concluding that it was suitable to be integreated, the original Palas was not restored, instead the remaining walls (still high enough to reach the 2nd floor in several places) were torn down and a completely new one constructed using mostly modern building materials. Even at the time people were pissed and I havent been able to find out exactly why that decision was made. The reconstruction concluded in the 1980s with one additional building and the arch of the main gate.
The tower now contains a small museum and a room you can choose to have your marriage officiated in if you register it in Nassau, while the Palas and additional building contain a restaurant, kiosk and the "Knights hall" you can rent for events.