The town has ancient origins traced back to the Umbrian Sarsinati. In the course of the centuries it belonged to various Lordships including that of Fregoso, who gave the name to the fortress whose construction took place around the tenth century, and was then restored by Francesco Di Giorgio Martini in 1474.
On the square in the historic center, perfectly preserved, there is the theater Angelo Mariani, the oldest theater in the Marches and one of the oldest in ltaly, characterized by a structure made ​​entirely of wood.