It was established on the farm Kromfontein which was owned by PA Venter who died in 1857. His son allowed a Reform Church to be established on the farm in 1864 and by 1871, the first plots of the original farm were sold. Ventersburg was declared on 6 May 1873. The Dutch Reform Church was built in Ventersburg in 1891 but it was burnt down in 1900 by the British forces during the Boer War. The church was later re-built in 1912.
Under apartheid, many black residents lived outside Ventersburg in Mmamahabane, an extra-municipal township. The location has since been expanded into a second district, Tswelangpele.