Villimpenta borders the municipalities of Castel d'Ario, Gazzo Veronese, Roncoferraro, Sorgà and Sustinente.

The town has remote origins and numerous archaeological findings which date back the settlement to the Neolithic and Bronze Age.

The oldest mention dates back to 1047 and tells of a castellum in Villapicta owned by the Abbey of St Zeno of Verona, given by Emperor Henry III.

Villimpenta was under the control of the Veronese house until 1243, when the Mantuans regained possession of the area, imprisoning the supporters of Ezzelino as well.

During the 14th century, it passed under control of the Scaliger, the Visconti and on 23 January 1391, it definitively passed under the control of the Gonzaga with Francesco I Gonzaga, lord of Mantua, who purchased the area including the village and the ancient castle from Gian Galeazzo Visconti.