In the Domesday Book of 1086, the settlement, with a population of 30, appears in three entries; it was then known as Torentune.
Other nearby small settlements included Roxby, Farmanby, Thornton, Ellerburn and Leidtorp; four of these eventually joined to become the village.
In 1066, the Lord was Earl Morcar and by 1086, the Crown (King William) owned this area; it was later transferred to Count Odo and his wife.
By 1281, a Manor was built here, owned by John De Easton.
In 1661, the owner was the Hill family; they built a new manor on the site of the old one.
A 1921 report indicated the owner as Captain Richard Hill.
Known as The Hall, and Grade II listed, the manor is now a residential care home for the elderly.
The building's origins are stated as 17th century, "probably with earlier origins".

There was a mill on Thornton Beck from at least 1200; the current mill was built in the 18th century.
By 1277, there was also a mill at Ellerburn.
Weaving was a common industry from the 14th to the 18th century.
The beck was diverted in the 19th century when a large mill complex with sluice gates was built.

In the Middle Ages, Roxby, just west of the village, was a separate manor, which fell into the hands of the Cholmeley family in 1499.Sir Hugh Cholmeley, 1st Baronet, was born at Roxby Castle, then known as Thorton-on-the-Hill.
 The remains on Roxby Hill are a Scheduled Ancient Monument although none of the buildings remain.
The area is also Grade II listed as "ridge and furrow earthworks [and] cultivation strips".

Richard Rolle, the English hermit mystic, was probably born in Thornton-le-Dale in the 1300s.
He authored many books on religious topics.

All Saints' Church, Grade II listed, is centuries old and was altered several times: entirely rebuilt in the 14th century, though some earlier aspects still remain, and modified in 1681 and 1865.
The existing copy of the church register includes listings as far back as 1538.
 Comber House, the former rectory on Church Hill, designed c. 1840 by J. P. Prichett, is also Grade II listed.

St Hilda's Church, Grade II listed, is in the tiny village of Ellerburn which is part of Thornton-le-Dale.
The original building dates to the early Norman period, and according to some sources, to the Saxon era, as early as 850 or 1050.
It was restored and modified in 1904-1905 and in 1911.
Today, there are a few other churches in or near Thornton-le-Dale.

In 1670, 12 almshouses and a school were built, thanks to an endowment left by Elizabeth, Viscountess Lumley who had died years earlier; her family had owned much of the land in the area.
The buildings, between the village green and the bridge, are supported by the Lady Lumley's Almshouse Trust.
In 2014, a major renovation was completed on the 12 bungalows by the Trust on the Grade II listed buildings in 2014.
They have been inhabited for some time as age-specific housing.
The Old Grammar School had space for 200 students and remained in use until the 20th century; it is now used for other purposes.
Another school, the Lady Lumley's School in nearby Pickering, is still in use, as a coeducational secondary school and sixth form.
The only current school in Thornton Dale is the CE School school, with 133 students in 2018, operated by the Church of England.

In 1801, the population was 1,041.
By 1831, it had increased to 1,368.

The village used to have a railway station on the Forge Valley Line between Seamer and Pickering.
The trains first arrived in 1839 but the Pickering-Scarborough branch was not completed here until 1882.
Some agricultural workers left the area on the train, seeking paid jobs elsewhere.
The Thornton Dale railway station opened in 1882 and closed to passengers in 1950, with a freight train from a quarry in the village continuing to use the tracks until 1964.
After being used for several purposes, including offices and a caravan park, the station was converted into three holiday rental cottages.
In the Domesday Book of 1086, the settlement, with a population of 30, appears in three entries; it was then known as Torentune. Other nearby small settlements included Roxby, Farmanby, Thornton, Ellerburn and Leidtorp; four of these eventually joined to become the village. In 1066, the Lord was Earl Morcar and by 1086, the Crown (King William) owned this area; it was later transferred to Count Odo and his wife. By 1281, a Manor was built here, owned by John De Easton. In 1661, the owner was the Hill family; they built a new manor on the site of the old one. A 1921 report indicated the owner as Captain Richard Hill. Known as The Hall, and Grade II listed, the manor is now a residential care home for the elderly. The building's origins are stated as 17th century, "probably with earlier origins".
There was a mill on Thornton Beck from at least 1200; the current mill was built in the 18th century. By 1277, there was also a mill at Ellerburn. Weaving was a common industry from the 14th to the 18th century. The beck was diverted in the 19th century when a large mill complex with sluice gates was built.
In the Middle Ages, Roxby, just west of the village, was a separate manor, which fell into the hands of the Cholmeley family in 1499.Sir Hugh Cholmeley, 1st Baronet, was born at Roxby Castle, then known as Thorton-on-the-Hill.  The remains on Roxby Hill are a Scheduled Ancient Monument although none of the buildings remain. The area is also Grade II listed as "ridge and furrow earthworks [and] cultivation strips".
Richard Rolle, the English hermit mystic, was probably born in Thornton-le-Dale in the 1300s. He authored many books on religious topics.
All Saints' Church, Grade II listed, is centuries old and was altered several times: entirely rebuilt in the 14th century, though some earlier aspects still remain, and modified in 1681 and 1865. The existing copy of the church register includes listings as far back as 1538.  Comber House, the former rectory on Church Hill, designed c. 1840 by J. P. Prichett, is also Grade II listed.
St Hilda's Church, Grade II listed, is in the tiny village of Ellerburn which is part of Thornton-le-Dale. The original building dates to the early Norman period, and according to some sources, to the Saxon era, as early as 850 or 1050. It was restored and modified in 1904-1905 and in 1911. Today, there are a few other churches in or near Thornton-le-Dale.
In 1670, 12 almshouses and a school were built, thanks to an endowment left by Elizabeth, Viscountess Lumley who had died years earlier; her family had owned much of the land in the area. The buildings, between the village green and the bridge, are supported by the Lady Lumley's Almshouse Trust. In 2014, a major renovation was completed on the 12 bungalows by the Trust on the Grade II listed buildings in 2014. They have been inhabited for some time as age-specific housing. The Old Grammar School had space for 200 students and remained in use until the 20th century; it is now used for other purposes. Another school, the Lady Lumley's School in nearby Pickering, is still in use, as a coeducational secondary school and sixth form. The only current school in Thornton Dale is the CE School school, with 133 students in 2018, operated by the Church of England.
In 1801, the population was 1,041. By 1831, it had increased to 1,368.
The village used to have a railway station on the Forge Valley Line between Seamer and Pickering. The trains first arrived in 1839 but the Pickering-Scarborough branch was not completed here until 1882. Some agricultural workers left the area on the train, seeking paid jobs elsewhere. The Thornton Dale railway station opened in 1882 and closed to passengers in 1950, with a freight train from a quarry in the village continuing to use the tracks until 1964. After being used for several purposes, including offices and a caravan park, the station was converted into three holiday rental cottages.
Thornton-le-Dale