 A medieval fortified town was built at the current location sometime in the 12th century under the auspices of a lord of Roquelaure, and it received its charter ("charte de coutumes") in 1244.From the 16th century on, the lords of Roquelaure built and maintained a chapel in the Gothic Church of Saint-Loup.The lords of Roquelaure, including Antoine de Roquelaure (1544-1625), are buried in the church crypt.