The history of the city of Camaiore laughed them approximately to the 190 a.C. when the Roman, founded Lucca, decided to build up some fortifications to the feet of the Prana mount. Maior Campus rose therefore the Lucensis Colony in the great plain from which drift the Camaiore name. After the fall of the empire of the West, the territory was subordinate to innumerevoli barbaric invasions above all conduct from Goti and Bizantini.

Lucca resumed the control of the city with the aid of the Longobardi and, with diffusing itself of the Christianity, rose the first churches like the Pieve di S. Maria and S. Stefano. Powerful feudali getlteman embezzled to the lucchesi the dominion of the city of Camaiore that, around to 1230, returned to being included between the common ones of Lucca of which divenne capoluogo in 1308. The city, not sufficiently protected, had to endure other dominations like that one of the Pisani and new destructions like that from part of German mercenari in 1329. Old of Lucca, resumed once again the control of the city, decided the edificazione of walls, whose construction finished in 1380. That was not enough from protect the Camaioresi, than, around to 1440, they fell preda of Francisco Strains and endured the domination of the Fiorentini. The city returned under Lucca in 1470 and in 1532 the revolt supplied test of its fidelity sedando dictates "of the straccioni". In order to celebrate this Victoria, and for riconoscenza to the camaiorese people, it was made to erect the Arc Prevails them outside of the Lombricese Door. However in the 1620 Camaiore lost the title it of capoluogo of the Vicaria and with it many territories in favor of Viareggio that, in that period, assumed a greater importance for the traffics trades them of Lucca. In 1801 for wanting of Napoleone Bonaparte the new lucchese republic was delivered up.
After it it was napoleonica, Maria Luisa di Borbone governed until 1824. To its dead women subentrò the son Carl Ludovico.
In 1847, the city passed to make part of the Granducato of Tuscany under Leopoldo II, and in the 1860 there was the plebiscite with which it was annexed to the baby Reign of Italy.