The first certain archaeological evidence of a permanent settlement in the area of Padenghe sul Garda dates back to the Roman age. At that time there was a rustic villa and a lake port. The villa was part of a system of housing, agricultural and organizational structures scattered throughout the Lower Garda area and the morainic hills south of the lake. It probably dates back to the 2nd-3rd century AD. The port, located in San Cassiano, was used for commercial and military garrison purposes. Starting from the 5th century A.D. Lake Garda and the other pre-alpine lakes were of primary importance for the control of accesses from the north to the Po valley and was the headquarters of a patrol fleet.

In the Middle Ages Padenghe was the seat of a parish church, a church with the right of baptism and the collection of tithes, submitted to the bishop of Verona. The parish church was erected in the area of ​​the Roman villa, in an evident relationship of continuity, as often happened in other areas of Italy. The settlement had a sparse character: it was organized in several nuclei located on the hills, in the immediate hinterland of the lake. The precious cultivations of olive trees and vines were encouraged and spread.

Around the 11th century a recessed castle was built there, used by the population and connected with the castles of Lonato, Moniga, Manerba, Polpenazze, Puegnago in a sort of unitary defensive system that has strongly characterized the landscape of the whole Valtenesi. In the 14th century it was acquired by the Scaligeri, who controlled the entire area.

From the beginning of the fifteenth century, Padenghe, together with the municipalities of the "Magnifica Patria", which was headed by Salò, became part of the domains of the Republic of Venice, which governed the lake area until its fall. In the Venetian era, Lake Garda became a large inland port; trade and trade flourished there. The port of Padenghe was used for the trade of salt that arrived from the Austrian mines through the Brenner and was then sold on the Lombard markets.

With the Italian unification, Padenghe, under the authority of the Province of Brescia, was recognized as the seat of the Municipality, in which the nearby village of Moniga was also included.

In the twentieth century, with the "great transformation", the construction of the Gardesana state road profoundly changed the road and settlement structure of the territory, preparing the most profound changes, which date back to the last two decades.