Biedrusko is first recorded (as Besdrofsko) in the late 14th century. It is the centre of a large military training area, which was set up by the German Army at the beginning of the 20th century, and taken over by the Polish army after World War I. It has been in use by the Polish military since then, except during World War II when the German Army used it again as the Warthelager training camp. This area includes the site of several now uninhabited former villages, including Chojnica, Glinienko, Glinno, Knyszyna, Łagiewniki, Okalewo, Trzuskotowo and Tworkowo.
Biedrusko contains an army barracks, a palace (undergoing restoration), and a large modern estate of apartment blocks.