Until 1794, it was part of the Land van Ravenstein [nl], a Catholic enclave of Palatinate-Neuburg within the Dutch Republic.

The oldest centre developed on the river bank of the Maas in the Early Middle Ages.

[3] Velp was part of the Land van Ravenstein [nl] which became a Catholic enclave of Palatinate-Neuburg within the Dutch Republic in 1631.

[4] The land van Ravenstein was conquered by France in 1794, and sold to the Batavian Republic (the predecessor of the Kingdom of the Netherlands) in 1800.

[3] The Capuchin monastery Emmaüs was founded in 1645 by the priest of Grave who had moved to the Land van Ravenstein.