The area of present-day Miyako was part of ancient Mutsu Province, and has been settled since at least the Jōmon period. The area was inhabited by the Emishi people, and came under the control of the Yamato dynasty during the early Heian period with the construction a fortified settlement on the coast. During the Muromachi period, the area came under the control of the Nambu clan, and was the main seaport for Morioka Domain during the Edo period under the Tokugawa shogunate.