Like other districts in the province of Malaga, the history of the Axarquía dates back to the Palaeolithic times, proven by the remains found in several caves in the mountains of the Sierras de Alhama, Tejeda and Almijara. There are also cave paintings and some household utensils from the prehistoric men who populated the region. The Higuerón and Victoria caves in Rincón de la Victoria and the caves in Nerja are all excellent examples of these primitive cultures.

Phoenicians, Carthaginians, Greeks and Romans have also left their mark here. In Trayamar near Algarrobo there are the remains of a Palaeo-Punic necropolis which has a tomb from the 8th century B.C. It is one of the most important Phoenician remains in West Europe. In Torrox, at the Roman Calviculum, there are remains of Roman baths and a necropolis. The many examples of Moorish art and architecture in the villages are the fruit of the period of Moorish rule, like the minarets in Arenas, Salares, Archez and the Moorish watch-towers all along the coast.

The Christian monarchs reconquered the Axarquía in 1487 with the help of rich noblemen from Castile. They first took Vélez-Málaga which came under the kingdom of Granada. This more recent history from the end of the 15th century has shaped the region over 400 years up to its present form today. The inland villages are mainly agricultural but the villages on the coast have changed drastically over the last 25 years because of the tourist development.

Anyway, all the villages have known how to keep their rich and varied historic legacy that past civilisations have left. Their culture has its roots in the Moorish period as can be seen from the architecture, the gastronomy, the folk songs and dances, the arts, crafts, and agriculture.