Husillos has had dwellers called vacceos of Celtic origin, and then successively the Romans, the Visigoths, Muslims and finally Modern Europeans.

In the 11th century the king Sancho el Mayor (Navarre) gave the town of Husillos to the Bishop of Palencia, the nearest city.

An important Jewish community lived in the Palencia region during several centuries, although they were finally forced to leave for political and religious reasons in 1492.

The king asked the Abbot of Husillos whether he could give the relic of Saint Laurent, his foot, for the palace of El Escorial.

The Museum of Archaeology in Madrid holds a Roman sarcophagus from II A.D. with the Myth of Orestes as decoration.