Human remains have been found dating back to the Paleolithic but the first mention in ancient sources of activity in the area described what was in the Roman city of Iptuci, cited by Pliny as a "Civitas" capable of minting its own currency. From this period are preserved Wall paintings, ramparts, the Memorial stone on the facade of the Church, and a copper plate detailing a treaty between the Roman colony Ucubi (Córdoba) and the municipality Iptuci.
Prado del Rey was later part of the border with the Nazari kingdom of Granada (this border was very unstable) and the control of this city frequently changed hands.
In the township, has found a unique exhibit of Christian weaponry, whose style was imposed on Al-Andalus in the twelfth and thirteenth centuries, coexisting with other weapons of Muslim tradition. The sword, double edged, is adorned with a solid spherical pommel topped by a button to fix the handle. The fist, divided into four sectors, home decoration engraved inscriptions.