The area of present-day Tahara has been continuously occupied since prehistoric times. Archaeologists have found numerous remains from the Jōmon period and burial mounds from the Kofun period. During the Nara period, the area was assigned to ancient Atsumi County, and was divided into several "shōen" during the Heian period. During the Kamakura period, the area was noted for production of a certain type of pottery. During the Sengoku period, the area was under the control of the Toda clan, who constructed Tahara Castle. The Toda, who were allied with Tokugawa Ieyasu were dispossessed by Toyotomi Hideyoshi, but returned as "daimyō" of Tahara Domain at the start of the Edo period. The Toda were later replaced by the Miyake clan, who ruled until the end of the Tokugawa shogunate. The noted scholar Watanabe Kazan was from Tahara.