Archaeological findings indicate human presence in the area since the Palaeolithic era, with artefacts such as hand axes and Bronze Age pottery discovered locally.

During the Roman period, Bemposta was notably significant, being considered the richest in Roman vestiges within the Penamacor municipality. Remnants of a Roman bridge, featuring a round arch with narrow and long voussoirs, still exist, though partially buried and obscured by dense vegetation.

In the medieval era, Bemposta was fortified with walls, likely constructed in the 13th century. A rectangular walled stronghold with a quadrangular tower remains as the only trace of these ancient defences. The tower was restored in the 20th century, with a clock added and a third floor constructed.

The village also holds cultural significance due to the discovery of two altars dedicated to Bandis Isibraia, a pre-Roman Lusitanian deity associated with the celestial realm, akin to the Greek Zeus or Roman Jupiter. These altars are housed in the Núcleo Museológico da Bemposta, located in the Chapel of São Sebastião, which also exhibits a significant collection of stelae.

Bemposta was granted a charter on 1 June 1510 by King Manuel I, marking its administrative recognition and autonomy. It served as a municipality until 1836, when it was integrated into the municipality of Penamacor. The village's historical architecture includes the Pelourinho da Bemposta, a pillory situated in front of the former town hall, symbolising its past administrative autonomy.

In the medieval era, Bemposta was fortified with walls, likely constructed in the 13th century. A rectangular walled stronghold with a quadrangular tower remains as the only trace of these ancient defences. The tower was restored in the 20th century, with a clock added and a third floor constructed.

Today, Bemposta's rich archaeological and historical heritage continues to be a subject of study and preservation, reflecting its importance through various historical periods.