The territory of Pioraco was settled in the Neolithic Age, as shown by the remains of a Bronze Age sanctuary on the top of Monte Primo (late 11th-early 10th centuries BC). In Roman times, Pioraco was a settlement on a branch of the Via Flaminia, with bridges, temples, public edifices and an aqueduct.
In the Middle Ages, it housed a castle which was a residence of the Da Varano family, lords of the nearby Camerino. The presence of paper mills, still active today, is attested from 1346.
Pieve of San Vittorino, known from 1119, built over the remains of a Roman temple, parts of which were used for its construction. It houses frescoes and baptismal font from 1646.
Romanesque church of San Francesco (1327), with a polygonal apse. The interior was remade in Baroque style: it houses an Annunciation attributed to Arcangelo di Cola and a Via Crucis by Francesco Mancini. The annexed convent has a frescoed cloister.
Church of Santissimo Crocifisso, in Lombard-Gothic style. It is home to a Crucifix attributed to Girolamo di Giovanni.
Church of Madonna della Grotta, a small 18th century edifice built in a niche in the rocks, used as hermitage. It has a 15th-century wooden statue of the "Madonna with Child".