The Kameoka area is located about 20 kilometers to the west of Kyoto, to which it is connected by the Kizugawa River.
Recognizing the importance of this location, Oda Nobunaga's vassal Akechi Mitsuhide constructed a castle from which he conquered Tanba Province.
In 1609, Okabe Nagamori was transferred from Shimōsa Province as a measure against Toyotomi Hideyoshi in Osaka Castle.
Later that same year, Matsudaira Narishige of the Ogyu-Matsudaira was transferred from Nishio Domain in Mikawa Province.
The 7th daimyō, Matsudaira Nobuyoshi served as Jisha-bugyō, Osaka-jō dai and rōjū during the tumultuous Bakumatsu period,and narrowly escaped assassination for his role as Ii Naosuke's assistant in the Ansei Purge.
His successor, Matsudaira Nobumasa reversed the domain's position, and quickly joined the imperial side in the Boshin War.