The Slav word kostolec or kostolac means small castle, fortified church or nunnery, while the German version (Kestenholz - chestnut tree) dates back to the 12-15th centuries.

The first documented mention of Kesztölc goes back to the deed of foundation of the Abbey of Garamszentbenedek, founded by King Géza I in 1075.

A document issued by King András III in 1294 refers to Kesztölc as the possession of the Chapter of Esztergom.

In 1439 King Albert endorsed the Chapter as the owner of Kesztölc, the area of which also included a puszta (field with scattered farmsteads) called Nyír.

The stone cross erected in front of the parish church was made in 1790, and the rural Baroque statue of St Urban was carved in the early 1800s.