大化の改新
Ōtaki was settled in prehistoric times, as evidenced by the Jōmon period remains in Oikawa. In the Asuka period the Ōtaki region became part of Kazusa Province at the western end of the Tōkaidō region, which was formed as a result of the Taika Reform of 654. In the Sengoku period Ōtaki was established as a castle town, which successively controlled by different regional clans, most notably the Takeda clan and the Toki clan. The Ōtaki region ultimately came under the control of the powerful Awa Province-based Satomi clan in 1544.