According to tradition, it was founded by the sons of the Lombard Ottrano. In the eleventh century, it was destroyed by the Marquis Marcovaldo of Ancona, and its citizens were forced to emigrate to Osimo. During the struggles between the Guelphs and Ghibellines, it sided with the former.

In 1353, it was plundered by a mercenary company; in 1393, it placed itself under the protection of Pandolfo Malatesta, and for this very reason, it was besieged in 1416 by Brancaccio da Montone, but succeeded in achieving peace after a year of strong resistance. Subsequently, it had to sustain a long struggle against Cingoli over border issues, which concluded thanks in part to the efforts of the cardinal legate Astorgio.

In the same period of the fifteenth century, it was taken and occupied by Francesco Sforza, and in 1443 by the troops of Alfonso of Aragon led by Piccinino. Shortly after, Sigismondo Malatesta took possession of it, from whom Francesco Sforza wrested it solely through famine and lack of water.

In 1815, during Murat’s campaign in central Italy, a fierce clash occurred there between the columns of the Austrian General Neipperg and the Italian Caraffa brigade which, violently attacked, resisted heroically and forced the adversary, after inflicting heavy losses, to retreat to Cingoli.

During the 1940-45 war, between June 29 and July 7, 1943, it was wrested from the Germans with bloody bayonet attacks by the Nembo paratroopers.