Initially, WIS 58 ran from WIS 11 (now US 14) in Sextonville to WIS 33 in La Valle. In 1923, WIS 58 extended northward to WIS 12/WIS 29 (now US 12/WIS 16) in Mauston. That same year, its southern terminus moved slightly to the west, avoiding Sextonville. In 1994, another significant change was made. This time, it was extended northward to WIS 80 south of Necedah, superseding County Trunk Highway Q (CTH-Q).
