Ancient city of the Auruncas, subsequently it was conquered by the Romans, becoming first an important military and commercial centre and then a "municipium" in 90 BC. It followed the fortune of Capua, Salerno, Benevento and Gaeta until the XIV-XV century, when the Marzanos dukes, landowners of Terra di Lavoro area and belonging to one of the most powerful Neapolitan families, made Sessa Aurunca the capital of their dukemon.
In 2001 some archaeological excavations have brought to light the Roman theatre, a large structure that could host up to 3500 spectators.