Built around 1650 by the then governor of the Arms of the Comarca de Setúbal, João Nunes da Cunha, the construction withstood the 1755 earthquake. The Casa do Corpo da Guarda results from the reconstruction of an earlier building, undertaken in the reign of King João V who, at the same time, also ordered the reconstruction of the Paços do Concelho building, in this same old Praça do Sapal, today Praça de Bocage.
In 2019, the municipality of Setúbal acquired from the Portuguese Army – Ministry of Internal Administration, the building for public use by the population and visitors. After restoration works, it opened in September 2020 as the Casa do Turismo de Setúbal with tourist support services.