A village and Gothic castle are known here from the second half of the 13th century. In the 16th century Náměšť nad Oslavou became the property of the Žerotín family, and an important centre of the Unitas Fratrum. A printworks was founded in 1530, and it was here that the first Czech grammar by Beneš Optát of Telč and Petr Gzel of Prague was printed.
Comenius stayed at Náměšť Château during his journey through Moravia in 1626.