[3] Before Dutch settlers traveled to the Hudson River Valley in the early part of the seventeenth century, the Rumachenanck people, a subset of the Lenape tribe, called the area home.

The village is one of the first to appear on maps of North America, listed as Haverstroo, which means "oat straw" as an anglicized version of a Dutch word.

From 1686 till 1719, the present town of Haverstraw was included in the laws, taxes and militia duties of Orangetown.

But that valley was increasing so rapidly in population, the distance was so great and the trail so poor between it and Tappan, that the inhabitants petitioned for separate existence and on June 24, 1719, the following act was passed: "An Act to enable the Precincts of Haverstraw in the County of Orange, to chuse a Supervisor, a Collector, two Assessors, one Constable, and two Overseers of Highways.

Influenced by these and other less important reasons, the residents of the village appealed to the Legislature for relief, and, on April 14, 1874, that body passed the following act: "SECTION I.

"[4] This village did not begin its growth as early as either Ramapo or Nyack, but for many years, until the discovery of James Wood revolutionized brick making, remained a country hamlet.

In 1855, Jacob Wan-dell wrote in a letter to his sister Catherine Van Houten, the following description of the present village, at the close of the last century: "My father removed from Tappan Sloat to Haverstraw in the year 1794.

The peak of High Tor Mountain on the Long Path hosted Continental Army watchfires to communicate between troops installments up and down the Hudson River.

During the night of September 21–22, 1780, the English emissary, Major John André, was rowed from the sloop-of-war Vulture to a beach below the Long Cove on the southern boundary of Haverstraw.

The negotiations to sell the plans to West Point were not completed by dawn, and Benedict Arnold and André traveled to the Belmont House, owned by Thomas Smith and occupied by his brother Joshua Hett Smith, on the grounds of what is now Helen Hayes Hospital in West Haverstraw.

Brick-making was so popular due to the clay formed by the Hudson River's water and the rich soil that lined Haverstraw's waterfront, that it was nicknamed the "brickmaking capital of the world".

Firefighters responded immediately but faced enormous odds because of burst valves and water mains, natural gas explosions and hoses which periodically froze because of the extreme cold.

The landslide, a pit about 150 feet (46 m) deep, claimed five Haverstraw blocks from Allison to Jefferson Street, 21 buildings, and the lives of 4 firefighters and 17 residents.

In 2007, leaders of the village and town announced the 101st anniversary of the landslide and dedicated a memorial to the victims of the disaster.

In July 1920, New York Yankees outfielder Babe Ruth spent time in Haverstraw to film a movie – Headin' Home.

The village has entered a period of revitalization, which coincides with the creation of the Harbors at Haverstraw Community and a sculpture trail which will follow the Hudson River shoreline.

The Harbors at Haverstraw is situated on the southern end of the Village and below the higher elevations of the charming riverside southernmost neighborhood known as Dutchtown.

Some residents have taken to calling the Harbors area the "South End" instead of the previous name for the neighborhood the "mud hole" in honor of various clay pits once visible here.

As of the 2010 census, the population was 11,910, and demographics were as follows:[19] The River Subdivision runs through the village of Haverstraw as a freight-only line, which has an important passing siding located at milepost 35.

The River Subdivision is the primary freight rail line between the New York City – Northeastern New Jersey metropolitan area and Albany.

Passenger service along the former West Shore Railroad line stopped on September 11, 1959,[20] although the former Haverstraw station building is still standing and currently serves as a law office.

[22][23] Short Line, part of Coach USA, provides daily service along U.S. Route 9W heading to and from the Port Authority Bus Terminal in Midtown Manhattan and West Point Military Academy or Newburgh.

In 2010, the team were the Girls Little League Baseball Seniors Division state and Eastern regional champions.

They defeated national teams from Germany, Puerto Rico and Guam, before losing 3–1 to San Antonio, Southwest regional champions, in the World Series Championship in Roxana, Delaware, on August 14, 2010.