The coastal town sprang out from an Austronesian settlement in the early 16th century when indio natives managed to escape oppression from Spanish colonial authorities.

It later flourished into a bigger town and was renamed after its designated patron La Nuestra Señora del Pilar (Our Lady of the Pillar).

In 1897, there had been an armed insurgency known as the Battle of Balisong during the Philippine Revolution in an attempt to overthrow Spanish authorities in the municipality led by local revolutionaries with the support of other resistance groups in Capiz, namely from the neighboring towns of Pan-ay and Pontevedra.

In 1949, the sitios and barrios of Aranguel, Culilang, Pandan, Pinamihagan, Cadoulan, Quiajo, Sangcal, Pondol, Marita, Madulano, Jabuyana, Bo-ac, Cabugcabug, Goce Badiangon, Bayuyan, Agbobolo, Cubay, Ibaca, and the sitio of Lotudlotud, which was converted into a barrio of Elizalde, were separated from the municipal jurisdiction of Pilar to form a separate town, namely President Roxas, by virtue of Republic Act No.

An iconic 12-foot landmark of the Virgin Mary is visible at a mountaintop in Barangay Dulangan, built by an affluent Filipino-Chinese businessman from Roxas City.

The figurine is believed to have been brought over by a galleon trading ship from the port of Acapulco, Mexico, but destroyed by British warships on its route to Luzon and was washed off to the coast of Pilar.

Barangay Casanayan is home to the mummified corpse of Lola Bebe or Maria de Juan Basañes, a migrant from Cavite who married a town local but died from heart attack in 1929 only to be found fully intact in her grave several decades later.