Belorado developed below a medieval castle that guarded the passage between the Kingdom of Navarre and the County of Castile. The castle is now in ruins, but its remains survive on the hill above the town, with a path leading to a viewpoint over Belorado. In the early 11th century, Sancho III of Navarre redirected the Camino de Santiago through Santo Domingo de la Calzada and Belorado.

The Tourist Office in Plaza Mayor can stamp a credencial with a replica of Belorado's medieval council seal. The seal, thought to date from the 13th century, depicts a tower and a star representing Santiago de Compostela.

What to see in Belorado

Paseo del Arte

The Paseo del Arte links murals painted on façades around Belorado as part of a series of public-art projects carried out over several years. Their subjects include the Camino, local history and traditions such as shoemaking and the traditional game of bolos beliforanos. A map of the murals and the suggested route is available from the Tourist Office.

Paseo del Ánimo

The Paseo del Ánimo is a series of plaques set into the pavement along the Camino through Belorado. Each bears a handprint, footprint and signature. Among those represented are Martin Sheen and Emilio Estevez (associated with the Camino film The Way), as well as Vicente del Bosque, who coached Spain to victory at the 2010 FIFA World Cup.