A trade route in the area of Sobíňov is documented already in 1144. The first written mention of Sobíňov is from 1358, when a fortress was built here. At the end of the 14th century, it was administratively joined to the Kunštát estate. In the 16th century, it was owned by the noble Trčka of Lípa family, then it was joined to the Polná estate.