Unlike the other kingdoms, which had at one time or the other engaged in the internecine wars that ravaged Yorubaland in the nineteenth century, Ipokia stood out as an unconquered sanctuary city-state throughout the period.

The year it was founded was not known but can be traced to 13th to 14th century when some prince and princess of Oramiyan, the 6th Ooni of Ife and founder of Oyo and Benni kingdom migrate from Oyo ile and settled in Ajase Ipo in present-day kwara state due to a little misunderstanding among the prince, then move downward toward west Lagos with the ancient crown gotten from their forefathers, Oduduwa.

settled briefly in Lagos shores, Isale Eko before coming to Badagry axis and finally settled down and formed a small town named Ipokia meaning (Opo ko ara e sile, I.e Opo rejected its people) with the help and guidance of Ifa Oracle.

The current traditional ruler (King) is Oba Yisa 'Sola Adeniyi Adelakun Olaniyan (JP), The 46th Onipokia of Ipokia kingdom.

A mega tourist city and sea institute was being developed at Whekan Island by the team of Queens Atlantic Resorts Inc., of Las Vegas, Nevada U.S.A. there is room for Boat Regatta, Canoeing and fishing along the Badagry creek.