Some authors atribute the foundation of this village to the Romans. This is supported by the recurring archaeological traces found in this region. For instance, in one part of the village exists a roman ceramic stove. In the Christian Period of Reconquest, the village became depopulated. But, in 1135, D. Afonso Henriques ordered to be repopulated, putting in charge of its destiny his son D. Pedro Afonso, that, in the same year of 1135, made a donation of this property to three noblemen.
It is also D. Pedro Afonso that, in the year of 1206, gives the first charter in 1513, given by the King D. Manuel I. Until the implementation of the constitutional regime, the Count of Redondo and the Marquis of Castelo Melhor were the recipients of the village of Pedrógão Grande, and had certain jurisdictional powers over this village.
Subject to the Office of the Corrigidor of Tomar, it was subsequently created, in 1875, the municipe of Pedrógão Grande. But, in 1895, a new land extinguished this, making Pedrógão Grande part of Figueiró dos Vinhos. But, on the 13th of January of 1898, a new law gave back to Pedrógão Grande its lost status of a municipe. Only in the year of 1878, did the Parrish (Pedrógão Grande) become part of an already existing administrative organization, and only with the Portuguese Constitution of 1976 did it acquire the status of a real municipe.