Porta S. Pietro Lombricese is the only one remained among the four access doors of the castle of Camaiore, which was erected in 1374. The access was anticipated by a drawbridge. On the side of the loophole, the emblem of the town and of the emblem of the family Di Poggio are visible. Above there is a bas-relief of S. Pietro surmounted by the monogram of the name of Jesus (1732).