The oldest settlement in Cēsis is the hillfort on Riekstu hill, a fortified wooden castle built by a tribe known as the Vends.
The planning of the town of Cēsis was done in the second half of the 13th century.
The Battle of Cēsis in June 1919, when Estonian and Latvian forces defeated the Germans, was one of the decisive battles in the Latvian War of Independence.