The first written references cited this town with the place name of El Villar de Corva in 1220. In a document from the sixteenth century, is said to be the first name that had the village of Peñafrol, but After we will, to acquire the advanced Juan Carrillo, It gives the name of Villacarrillo; then it Cuerva be called, when passed to the family of Garci Lasso de la Vega.
In the fifteenth century there are reports of the Convent of San Clemente de Toledo, which had certain rights in the village of Crow, according to documentary evidence dated in 1458. In 1477, Cuerva contributed to the support of the Holy Brotherhood of Toledo.
To defend this area, a castle rose, perhaps built by Alfonso X, who donated to the city and then goes through purchase, town and castle, to advance Cazorla Juan Carrillo of Toledo, in the fifteenth century. His heirs sold it to knight Garci Lasso de la Vega, greater commander of Leon and Lord of Batres, in the sixteenth century. These gentlemen lived in the local castle until the seventeenth century.
The advance Juan Carrillo, granted the privilege of villazgo Cuerva, raising the timely roll on the old road to Toledo.