The Palace of Vélaz de Medrano is the former seat and residence of the noble Medrano family in Igúzquiza, Navarre. It was directly linked to the perpetual lordship of Igúzquiza, held by the same noble family. The castle-palace of Vélaz de Medrano is currently privately owned and listed in the Spanish Historical Heritage, obtaining the protection of the generic declaration of the Spanish Historical Heritage decree on April 22, 1949, and protected by Law 16/1985 of June 25, 1985.

Juan Vélaz de Medrano IV was the royal Chamberlain for King Charles III of Navarre in 1414 and King John II of Aragon and Navarre in 1432. Juan was a noble and knight from the Kingdom of Navarre. He was the lord of Igúzquiza, Arguiñano, Arzoz, Learza, Artazu, Zabal, Orendáin, and the alcaide of Monjardín Castle and Viana. He is the son of the ricohombre Don Alvar Diaz de Medrano y Almoravid. Don Juan Vélaz de Medrano was active in the Hundred Years' War during the war of Languedoc (1412), the civil war in Aragon (1412) and successfully defended Viana against the Kingdom of Castile in 1429–1430. In 1410, Don Juan Vélaz de Medrano was targeted in a rebellion from his fiefdom of Orendáin. His grandsons Juan and Jaime Vélaz de Medrano y Echauz were leaders in the defense against the conquest of Navarre, particularly in 1512 and 1522.