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The name first appears in documents in 1231. Due to the closeness of Kasteel Rechteren, Dalfsen is one of several towns along the Overijssel section of the Vecht river never to have received city rights.
In 2015, archaeologists found a burial ground dating from the TRB-period (3000-2750 BC) containing 141 burial pits. The TRB dates back to the last phase of the Middle Neolithic period, which is known for its megalithic monuments in northern Europe.