The village is mentioned in the "Domesday Book" as Brunton in lands owned by Count Alan of Brittany. The Count had granted the manor to the constable of Richmond Castle, "Enisant Musard" after 1086, with the previous lord at the time of the Norman conquest being a local man named "Thor". There were 16 households, 10 ploughlands, an meadow and a mill. By the late 13th century the manor was in dispute between the Rollos family, who had been granted the manor seized by Henry II, and Roald of Richmond. After the death of William de Rollos, the Crown restored the manor to Roald. Some of the lands at this time were held Robert Lacelles and Peter Greathead and their descendants until sold to Richard le Scrope of Bolton in 1371. By 1380 the lands had been given to the Abbey of St Agatha at nearby Easby, who held the lands until the dissolution. After this, the lands were returned to the Scrope family. By the end of the 19th century, the manorial rights disappeared.