[2] According to historical records, the name evolved from Ancient Latin in the times of Augustus to modern Castilian: Statilium, Stutilium, Stitellum, Stutellium, Stutiellum, Stutiello, Studellum, Astutello, Astodello, Estodello, Estudillo, Astudil and Astudillo.

[10] In the 11th century, Astudillo was already head of Alfoz, so the town was a walled place from early medieval times, you can still see one of the six gates it had, the gate of San Martin, of the others only remains their memory and their names: Revilla, Santa Eugenia, San Pedro, Santa Clara and Santoyo.

[11] In the middle of the twelfth century, King Alfonso VII, granted privileges to the knights of Astudillo consisting in a wide range of exemptions and freedoms.

[12][13] In the thirteenth century, King Ferdinand III of León & Castile, ratified the charter of the town and extended with rights of merchandise, making it an important stronghold.

[14] As a single town, Astudillo was one of the fourteen villages that made up the Castrojeriz district, which formed the Burgos commune, in the period between 1785 and 1833.