From some excavations within the commune's area many important archaeological finds were discovered, which confirmed the presence of Etruscan burial sites that date back to 8th century B.C.. From renaissance maps there are annotations of a small village on the coast, with the name Porto San Lupidio, with a sea teeming with fish and a little away from Castrum Castri, now known as Fermo. In spite of the passage of years and the continued immigration from southern Italy, the village remained small until 1952, when it obtained communal independence from Sant'Elpidio a Mare, changing its name from Porto di Sant'Elpidio a Mare to Porto Sant'Elpidio.