The architecture and nature of the continental lithosphere result from billions of years of tectonic and magmatic evolution. Continental deformation over broad regions form collisional orogens which evolution is controlled by the interactions between properties inherited from hits long-lasting evolution and plate kinematics. The analysis of present-day kinematic patterns and geophysical imaging of lithosphere structure can provide clues on these interactions. However how these interactions are connected through time and space to control topographic evolution in collision zones is unknown. Here we explore the case of the Cenozoic mountain building and topographic evolution of Western Europe. We first review the tectono-magmatic evolution of the lithosphere of Europe based on the exploitation of geological, geochronological and geochemical constraints from ophiolites, mafic rocks and xenoliths data. Combined with the analyses of low-temperature thermochronological and plate kinematic constraints we discuss the key controlling parameters of the topography. We show that among the required ingredients is the primary effect of plume-, rift- and subduction-related metasomatic events on lithosphere composition. Those main events occurred during the Neoproterozoic (750-500 Ma) and the late Carboniferous-Permian (310-270 Ma). They resulted in the thinning and weakening of the sub-continental lithospheric mantle of Europe. Contrasting lithosphere strengths and plate-mantle coupling in Western Europe with respect to the cratonic lithosphere of West Africa Craton and Baltica is the first-order parameter that explain the observed strain and stress patterns. Subsequent magmatic and thinning episodes, including those evidenced by the opening of the early Jurassic Alpine Tethys and the CAMP event, followed by late Jurassic and early Cretaceous crustal thinning, prevented thermal relaxation of the lithosphere and allowed further weakening of the European lithosphere. The spatial and temporal evolution of topographic growth resolved by the episodes of increased exhumation show two main periods of mountain building. During the late Cretaceous-early Cenozoic (80-50 Ma) contractional deformation was distributed from North Africa to Europe, but the topographic response to the onset of Africa-Eurasia convergence is detected only in central Europe. The lack of rapid exhumation signal in southern Europe and north Africa reveal that the initial continental accretion in these regions was accommodated under water in domains characterized by thin continental or oceanic crust. The second phase of orogenic uplift period starts at about 50 Ma between the High Atlas and the Pyrenees. This second key period reflects the time delay required for the wider rift systems positioned between Africa and Europe to close, likely promoted by the acceleration of convergence. Tectonic regime then became extensional in northern Europe as West European Rift (WER) opened. This event heralds the opening of the Western Mediterranean between Adria and Iberia at ca. 35 Ma. While mature orogenic systems developed over Iberia at this time, the eastern domain around northern Adria (Alps) was still to be fully closed. This kinematic and mechanical conditions triggered the initiation of backarc extension, slab retreat and delamination in the absence of strong slab pull forces. From about 20 Ma, the high temperature in the shallow asthenosphere and magmatism trapped in the mantle lithosphere contributed to topographic uplift. The first period (80-20 Ma) reveals spatially variable onset of uplift in Europe that are arguably controlled by inherited crustal architecture, superimposed on the effect of large-scale lithospheric properties. The second period marks a profound dynamic change, as sub-lithospheric processes became the main drivers. The channelized mantle flow from beneath Morocco to Central Europe builds the most recent topography. In this study, we have resolved when, where and how inheritance at lithospheric and crustal levels rule mountain building processes. More studies focus on the tectonic-magmatic evolution of the continental lithosphere are needed. We argue that when they are combined with plate reconstructions and thermochronological constraints the relative impact of inheritance and plate convergence on the orogenic evolution can be resolved.