The route was originally designated County Highway 416 in the 1920s and 1930s. In 1930, it became the easternmost part of New York State Route 210 (NY 210), a state highway continuing westward into Orange County. In 1982, NY 210 was truncated to end in Greenwood Lake, and its former routing east of NY 17 was replaced by CR 106 in Orange and Rockland counties. CR 106 in Orange County was decommissioned on January 1, 2014, when maintenance was transferred to the Palisades Interstate Park Commission.