三河吉田藩
Records of place names in present-day Gamagōri have been found from the Nara period. The area was divided into several "shōen" during the Heian period, largely under the control of the Udono clan. During the Edo period, most of the area was "tenryō" territory ruled directly by the Tokugawa shogunate through "hatamoto" administrators, with portions controlled by Yoshida Domain and Okazaki Domain.