Bridgnorth is named after a bridge over the River Severn, that was built further north than an earlier bridge at Quatford. The earliest historical reference to the town is in 895, at which time it is recorded that the Danes created a camp at Cwatbridge, and subsequently in 912, Æthelfleda constructed a mound on the west bank of the River Severn, or possibly on the site of Bridgnorth Castle, as part of an offensive against the Danes.

After the Norman Conquest, William the Conqueror granted the manor of Bridgnorth to Roger de Montgomerie. The town itself was not created until 1101, when Robert de Belesme, the son of Roger de Montgomerie, moved from Quatford, constructing a castle and church on the site of the modern-day town. The castle's purpose was to defend against attacks from Wales. On Robert's attainder, in 1102 the town became a royal borough. Bridgnorth's town walls were initially constructed in timber between 1216 and 1223; murage grants allowed them to be upgraded to stone between the 13th and 15th centuries. By the 16th century, the antiquarian John Leland reported them in ruins and of the five gates, only one survives today.

Inscription on Bridgnorth Museum, commemorating the deliberate destruction of the town by royalist forces, commanded by Sir Thomas Wolryche of Dudmaston Hall.

It is probable that Henry I granted the burgesses certain privileges, for Henry II confirmed to them all the franchises and customs which they had in the time of Henry I. King John in 1215 granted them freedom from toll throughout England except the city of London, and in 1227 Henry III conferred several new rights and liberties, among which were a gild merchant with a hanse. These early charters were confirmed by several succeeding kings, Henry VI granting in addition Assize of Bread and Ale and other privileges. The burgesses returned two members to parliament in 1295, and continued to do so until 1867, when they were assigned only one member. The burgesses were additionally granted two fairs: a yearly fair on the feast of the Translation of St. Leonard[disambiguation needed ] and three following days was granted in 1359, and in 1630, Charles I granted them licence to hold another fair on the Thursday before the first week in Lent and two following days. The town was disfranchised in 1885. In 1961 the RAF initial recruit training unit was at Bridgnorth.