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The name of Lutterworth is probably derived from the Old Norse name "Lutter's Vordig" meaning Luther's farm. Lutterworth was mentioned in the Domesday Book of 1086.

The town was granted its market charter in 1214 by King John and continues to hold a market to this day, every Thursday. Usually there are up to ten stalls selling a variety of items from fruit and vegetables to clothes.

In the 14th century, the religious reformer Canon John Wycliffe was rector in Lutterworth's parish church of St Mary between 1374 and 1384, and it was here that he is traditionally believed to have produced the first translation of the Bible from Latin into English.

The Irish statesman Robert le Poer was parish priest here c.1318.

In the days of the stagecoach, Lutterworth was an important stopping-place on the road from Leicester to Oxford and London, and many former coaching inns remain in the town. The town also contains some historic half-timbered buildings, some of which date back to the 16th century.

Three railway stations have borne the name Lutterworth, but only one was actually in the town. The first was "Ullesthorpe & Lutterworth", about 3 mi (4.8 km) to the north west, on the former Midland Railway (later part of the LMS) line from Rugby to Leicester, closed on 1 January 1962. The second was "Welford & Kilworth", at one time known as "Welford & Lutterworth", some 5 mi (8.0 km) east on the London and North Western Railway (also later LMS) line from Rugby to Market Harborough and Peterborough, closed on 6 June 1966. The third (the only one actually in Lutterworth) was on the Great Central Railway (later part of the LNER), the last main line to be constructed from the north of England to London, opened on 15 March 1899.