The town’s origin is a hotly debated topic. It is known that the area was inhabited during prehistoric times, as tools and dolmens have been discovered to the west of the town.
The most accepted hypothesis is that the oldest settlement from ancient times closest to present day Estepona is the Iberian oppidum of Salduba.
In Muslim times, a fortress existed at Al-extebunna, from which the town derives its name.
A notable event in Estepona’s history was an important naval battle off the coast in the year 1342 between 30 galleons.
During the Muslim period in the XV century, inhabitants refused to pay taxes to King Henry IV of Castile, who authorised a Christian invasion.
During the times of the re-conquest, the coast was protected with the construction of a new village and a fort.
There was no notable increase in population between the XV and XIX Centuries. The population began to rise at the end of the XX Century, and it has been increasing ever since.