The route originally started development in 1995 as part of the celebrations to mark 60 years of the Ramblers Association but it was not until 1996 that the route was officially established with the first issue of the guidebook published in 1998. At that time it was in length. Over subsequent years amendments and additions have been made. A second edition was published in 2009. A third edition was published in 2017 () and is available from the Friends of Hertfordshire Way. The third edition builds on the previous editions and makes adjustments to the route to avoid recent housing and highway developments and also to address a small number of access concerns. These changes particularly affect legs 7,8,12 and 13.
