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During the Carboniferous period (between about 359 and 299 million years ago), Wirksworth was under tropical oceans, thus giving it vast quantities of limestone for quarrying. There is an extensive history of quarrying, which scars the surrounding of the town, whilst Dene Quarry is still operational in the neighbouring village of Cromford.
Close to Wirksworth in Carsington Pastures is the Dream Cave, where the remains of a woolly rhino were found in the late 19th century.
The area may well have been visited by Homo erectus as long as 150,000 years ago, during warm inter-glacial periods. An Acheulean handaxe from the Lower Paleolithic has been found at Hopton nearby. From other remains found in the county there would seem to have been human presence at least periodically until the Romans arrived and found a thriving lead industry.
Wirksworth is rumoured to be the ancient Roman town of Lutudarum, although there is speculation as to the whereabouts of this. In 2009 a team of volunteers excavated near the vicarage for a Roman fort, but failed to find it.
One of the rectors of Wirksworth was Anthony Draycot who served from 1535 until his imprisonment in 1560. Draycott was the judge at the heresy trial of Joan Waste.
The ancient Wirksworth wapentake or hundred was named after the town.
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