The first to inhabit Arcadia were the Pelasgians who followed the Dorians. The Arcadians had formed many colonies, such as Pafos in Cyprus, Pergamos in Asia Minor, Rome Italy, and Trapezounda in the Black Sea area. The most significant cities were those of Tegea and Mandinia. The latter suffered many damages when she sided with the Athenians in the Peloponnesian War.

In 369 BC Epaminondas of Thebes created the Arcadian Federation despite the objections of Sparta. In 243 BC Arcadia becomes a member of Achaean Federation but due to the constant domestic problems of the time, the country soon feel into the hands of the Romans.

During the Roman Era, Arcadia abandoned completely and the period that followed was called the Arcadian Dark Ages. The area was later occupied by Franks in the 12th Century followed by the Ottomans in 1458.

Given its central position in Peloponnesus, Arcadia played a primary role in the 1821 Revolution. The town suffered a lot of damage during this time, the most catastrophic of all being the bombing of Ibrahim Pacha in 1827.