Amora has a privileged geographic position, with a large area supported by two arms of the Tagus River (one that ends in the northeast, in Corroios, and another in the south, at Torre da Marinha), that facilitate contact to exterior by river. Overland it was always a point of passage between Cacilhas and the south (Azeitão, Setúbal and Sesimbra), functioning as a corridor that connected the capital to the south. Much like many of the other settlements of Seixel, Amora's origins and development were the result the Tagus estuary, since the Middle Ages. It was the Tagus that united the communities, that included seamen, bushmen, millers, workers and laundresses, since the 18th century, but its history extends back to the 14th century. In 1384, Fernão Lopes, referred to this settlement as the location of galleys of the Master of Avis, situated on the arms of the Tagus, between Seixel, Arrentela and Amora, during the Castillian battles.