Although there has been a settlement since pre-Roman times, Ambleside is largely Victorian. A fort beside Borrans Park – named Galava – was built in Ambleside by the Romans, housing some 500 soldiers. It was built to defend the lower fells of South Lakeland from invasion by the Picts and Scots, and to guard the road to the Roman Port at Ravenglass via Hardknott Pass.

The opening of the Lake Windermere ferry terminal at Waterhead Pier in 1845 created further expansion. Today ferries can be taken to Bowness and Lakeside.Many well known characters have been connected with Ambleside, including William Wordsworth, Hardwicke Rawnsley, John Ruskin and Beatrix Potter. More about these people can be found in the The Armitt Museum, (opposite the main car park entrance).William Wordsworth had an office here, in Church St, as a result of his role as Collector of Stamps for Westmorland. He was elected to the post soon after his family moved to their house at Rydal Mount.