Standing on the hills above the right bank of the Lower Foglia Valley and reached from the Pesaro-Montelabbate road.
The name of the town comes from the Liciola family whose fortified castle stood over the town in the 13^th Century. The original castle, however, dates back to the 6^th Century and documents from the year 1047 show that it was given by Pope Clement II to the abbey of San Tommaso in Foglia. When the inhabitants of the nearby fortified village of Monte Sant' Angelo (which has now disappeared) moved here, the town came under the dominion of Pesaro and its rulers (the Sforza and Della Rovere families). The austere square tower which rises above the Palazzo Comunale (town hall) dates from 1588, as well as the Renaissance collegiate church, with its fine walnut choir stalls. During this period the lands of Sant' Angelo where given by Francesco Maria II Della Rovere in fief to Count Giulio Cesare Mamiani (1584). The last ruler of Sant' Angelo in Lizzola was Terenzio Mamiani (1799-1885) who was Minister of Education in the first government of United Italy. Villa Perticari still stands in the town, though now in poor condition - it was here that famous scholars used to meet during the 18^th and 19^th centuries and where Vincenzo Monti's tragedy "Aristodemo" was first performed, inside an olive mill. The Perticari-Cacciaguerra family also own the beautiful church of Sant' Egidio (1628) which contains many paintings by Giovanni Venanzi of Pesaro and a fine wooden crucifix by the Venetian wood-carver Francesco Pianta. Giovanni Branca (1571-1645), architect, physicist and mathematician, and inventor of the first steam engine, was born at Sant'Angelo in Lizzola.
The old fortified village of Ginestreto (288 m) stands in the Sant' Angelo in Lizzola area. Its ancient parish church contains a fine painting ("Madonna with Child and Saints") by Bartolomeo di Gentile.