[2][3] The Šenčur area was already inhabited in late antiquity; archaeological finds include a Roman sarcophagus from the 4th century AD.

This was a political incident in which members of the banned Slovene People's Party prevented a march by the newly founded Yugoslav Radical Peasants' Democracy, calling out slogans against the 6 January Dictatorship and in support of the United Slovenia program.

As a result, several Upper Carniolan leaders of the Slovene People's Party were arrested and imprisoned, including Matija Škerbec.

On 24 January 1944, German forces shot 40 hostages in Šenčur in retaliation for the deaths of three military police.

By the end of the 20th century, only 5% of the population was still engaged in farming and the majority of residents commuted to Kranj for work.

It is a single-nave structure with a rectangular chancel with beveled corners that was built in 1747 on the site of an earlier building.

A well-known local company is Logar Trade d.o.o., which produces beekeeping equipment for export to German-speaking markets.

The oldest and biggest carnival in Upper Carniola takes place in the town each year in February or March.

The third event is the Grand Prix of Šenčur international cycling race, which is held annually at the beginning of April.