A few centuries BC, a settlement developed around where the street Tsjerkebuorren is now (Stenvert et al., 2000).

Another settlement came into existence nearby when a canal between Leeuwarden and Harlingen was completed in 1507.

The oldest known reference to the village dates from 1132, when it was called Denningrip, meaning a "rip" (narrow stretch of land) where a family called Drenninga lived.

The van Harinxmakanaal, completed in 1953, runs along the south side of the town.

Painter Sir Lawrence Alma-Tadema was born in the house at Dûbelestreek 2, Eise Eisinga, famous for his planetarium, at Tsjerkebuorren 13.