The first mention of Veltrusy refers to the year 1052, but only the information from 1226 can be considered reliable. It was a privilege of Přemysl Otakar I, intended for the monastery in Doksany.
Until 1410 the village belongs to the Church. Later owners on the local estates very quickly alternated, often the development was quite unclear. Since the 17th century, the local land, including Veltruský Chotků chateau. They then owned them until 1945. In 1754 the first industrial exhibition took place in Veltrusy, which was also attended by Empress Maria Theresa ..
In 1899 Veltrusy was promoted to a small town, since 1926 Veltrusy was a town, but in the following years it lost its privilege again. It wasn't until 1994 that Veltrusy was finally promoted to a town.