The village was first mentioned in the first half of the 11th century as Aldenthorf, and means "old village". Oudorp developed on a beach wall. Between 1278 and 1288, the castles Middelburg and Nieuwburg were built by order of Floris V, Count of Holland. Both castles were destroyed in 1517. During the Siege of Alkmaar in 1573, the Spanish army was stationed in Oudorp.
