The estate was first mentioned in 1466. It has been associated with the Gilsens, von Rosens, von Zoeges, von Benckendorffs, von Krusensterns and von Uexküll-Güldenbandts. The ruins of a vassal castle destroyed during the Livonian War were reconstructed as a stately castle in the 17th to 18th centuries, which received its present form in 1790.

For many years, the manor was the home of a world famous explorer and mariner Adam Johann von Krusentern, who also passed away in Kiltsi. Since the 1920s, the manor houses a school. The building has been thoroughly restored starting in 2000. Contact (admiral room, museumroom): ph. +372 325 3411

By the historical distribution the manor was in Väike-Maarja Parish in Virumaa County. By the present administrative distribution it belongs to the Väike-Maarja Municipality in Lääne-Virumaa County.