The recorded history of Doorwerth started in the early Middle Ages when a small castle was built in the Seelbeek valley and later the current Doorwerth Castle was founded.

The old village grew around the castle near the banks of the river Rhine.

The current cores of the village were developed from 1923 onwards, when the Van der Molenallee was constructed.

The grounds of this municipality extended from Heelsum, till Oosterbeek until what is now known as Wolfheze.

[3] Doorwerth Castle is located south of the village, on the Rhine.