Paleolithic relics were found in Danhyeon-dong, Yeonan-dong, and Naeyang-ri, Sejongdaewang-myeon in Yeoju. Also, the prehistoric dwelling site in Heunam-ri is a well-known historic site of the Bronze Age. Yeoju was a stronghold of Mahan/Baekjae Kingdoms against neighboring countries, such as Goguryeo and Dongye, forming relevant historic sites, including Ipo, Sulcheonseong Fortress, and Ancient Tombs in Maeryong-ri. After the southward advancement of Goguryeo, Golnaegeun-hyeon was established in Yeoju and Sulcheon-gun was built in the region of Ipo (63rd year of King Jangsu); after the unification of the three kingdoms, the areas were renamed to Hwanghyo-hyeon and Gicheon-gun, respectively (16th year of King Gyeongdeok).

The area was renamed to Hwangryeo-hyeon in 940 (23rd year of King Taejo), and was renamed again in 995 (14th year of King Seongjong) to Cheonnyeong-gun. The area’s name was changed to Yeongui in 1257 (44th year of King Gojong), and a governor was dispatched to the area after it was renamed to Yeoheung and promoted from hyeon-level to gun-level in 1305 (31st year of King Chungnyeol). The area was promoted from gun-level to bu-level in 1388 (14th year of King U); however, it was later demoted to Yeoheung-gun in 1389 (1st year of Gongyang).

The area was promoted again to bu-level in 1401 (1st year of King Taejong), and Eoseoi-chon in Eumjuk-hyeon was merged with Yeoheung-gun. Due to the regional system reformation in 1413 (13th year of King Taejong), Hwangryeo-bu and Cheongnyeong-gun became Yeoheung-dohobu and Cheonnyeong-hyeon, respectively. The Royal Tomb of King Sejong (Yeongneung) was moved to the bank of Bukseongsan Mountain in 1469 (1st year of King Yejong); at the same time, Cheongnyeong-hyeon was abolished and merged with Yeoju-mok. There were claims from the residents of the area to reestablish Cheonnyeong-hyeon in 1499 (19th year of King Seongjong), but their demand was not accepted.

Due to the implementation of the 23-bu system, the area was reformed from mok-lel to gun-level and went under the jurisdiction of Chungju-bu in 1895 (32nd year of King Gojong); at this time, Gangcheon-myeon in Wonju-gun was newly incorporated. Yeoju was returned to Gyeonggi-do in 1896 due to the implementation of the 13-do system, becoming a third-level gun. 15 neighborhoods (myeon) of the area were reconfigured to 9 neighborhoods (myeon) in 1914 due to the merging of eup and myeon-level districts in 1914. Around this time, parts of Geundong-myeon and Sugye-myeon were incorporated centering around Junae-myeon, establishing the area of Yeoju-myeon. Yeoju-myeon was promoted to Yeoju-eup in 1941, and Gaegun-myeon was merged with Yangpyeong-gun in 1963.

Sanbuk Local Office was established in 1970; in 1989, the area of Sanbuk was separated and promoted to a myeon-level district. Ohak Local Office was installed in 1992, reforming the area to one district (eup), nine neighborhoods (myeon), and one local office. Due to the administrative district reformation in 2007, Ohak Local Office in Bungnae-myeon was reorganized to Ohak Local Office in Yeoju-eup.

Yeoju-gun was promoted to Yeoju-si in 2013, which reorganized Yeoju-eup to Yeoheung-dong, Jungang-dong, and Okank-dong, and promoted Ganam-myeon to Ganam-eup. The administrative district name of Neungseo-myeon was changed to Sejongdaewang-myeon on Dec.31, 2021.