 Bronze Age and Roman remains have been found in the area and there is evidence of an Anglo-Saxon church in the village. The manor of Bentworth was not named in the Domesday Survey of 1086, but it was part of the Odiham Hundred. During the Second World War, Bentworth Hall was requisitioned as an outstation for the Royal Navy and nearby Thedden Grange was used as a prisoner of war camp.
