The village was first mentioned in 1315 as Urathorp, and means "higher settlement". Ura (higher) has been added to distinguish from Olterterp. Ureterp developed in the late middle ages on a sandy ridge. In the 17th century, a second settlement developed at the sluice of the Drachtster Compagnonsvaart. The tower and the north face of Dutch Reformed church are from the 13th century. The church was extensively modified around 1800.
