 During the Edo period Tokugawa shogunate, the castle was the center of Oshi Domain, ruled by a branch of the Matsudaira clan until 1871, during which time the castle town prospered from its location on the Nakasendō highway.The town of Gyōda was created within Kitasaitama District, Saitama with the establishment of the municipalities system on April 1, 1889.On April 1, 1937, Gyōda annexed the neighboring villages of Nagano, Hoshikawa and Mochida.