The sections leading away from Prague have been built since the 1970s, and at that time, it was planned to build the expressway to the Polish.

As part of a reassessment of the concept of motorway and expressway construction carried out in 1993, the plans for a continuation from Turnov, towards Harrachov and towards the Polish border were removed.

The motorway, formerly known as R10 Expressway (Czech: rychlostní silnice R10) was officially redesignated as the D10 on 1 January 2016.

Therefore, all upcoming projects concern only construction modifications of already completed sections.

One project in development is the reconstruction of the Kosmonosy MÚK from a tubular intersection to a ring intersection over the motorway,[2] which is being carried out by Eurovia at an approximate cost of CZK 737 million.