The name Baronville dates back to the Roman Empire. It was at this time that the place was called Baronis Villa, meaning ‘house of the baron’, itself a title held by ‘hommes forts’, who were charged with the protection of the empire’s borders.

The stronghold of Baronville, seigniory, chatelaine and earldom, depended on the barony of Auneau, then later on the Duchy of Chartres. From the Middle Ages to the present day, there have been seven families living at Baronville: the houses of de Prunelé, de Gyvès, de Montescot, de Lattaignant, d'Aligre, de Pomereu d'Aligre and now de Rougé.

In the Middle Ages, the château was a fortified manor house, of which there still remains a significant part of the drainage system, the foundations and cellars.

Local legend has it that the Pucelle d’Orleans, or Saint Joan of Arc, saved Baronville and the surrounding countryside from English occupation during the Hundred Years War.