The embassy came to be initially as a representative office of the Palestine Liberation Organization on 5 October 1979, when Yasser Arafat visited Turkey during the tenure of Bülent Ecevit.

On 27 August 1987, the street where the representative office lies was named Palestine Avenue (Turkish: Filistin Caddesi).

The embassy moved to a new building in Oran administrative area in 2009, closer to other diplomatic missions.

The municipality of Ankara named a street close to the new embassy Al-Quds Avenue (Turkish: Kudüs Caddesi).

Since then, Faed Halid Abd Mustafa has been serving as the fourth ambassador of Palestine in Ankara.