The area encompassing Eitorf was originally inhabited by the Sicambri, who were ultimately almost completely annihilated by the Romans.

Afterwards, the Ripuarian Franks emerged from the Tenkterer and other Frankish people in the region and would go on to have a lengthy and complex relationship with the Romans – first as their opponents, then their vassals, and finally their heirs in ruling over all of France and Germany.

The names of Frankish settlements from the time frequently have an -ingen ending, of which Köttingen is the only remaining local example.

Under the Ottonian Dyanasty, the area belonged to the Duchy of Lower Lorraine in the Holy Roman Empire.

There were several manor homes that were constructed in the area, including Welterode Fortress, part of which remains to this day.