The village was first mentioned in 1331 as Jaarsfelt, and means (peat concession) field of Jaar (person).

[4] During the middle ages until 1795, Jaarsveld was a vrije en hoge heerlijkheid.

[5] As a free a high fief, Jaarsveld was an independent of the provinces Holland or Utrecht, like the larger Barony of IJsselstein to the east.

Around 1760, the manor house Huis Jaarsveld was built to the north-west of the castle and was expanded in 1867.

[7] In 1840, Jaarsveld was home to 1,079 people, however that included the hamlets of Jaarsvelderkapel and Graaf.