Sogliano al Rubicone is documented from 1141 and links its history and that of its hamlets to the Malatesta, at least since the mid-13th century. From 1640, the Holy See directly assumed control of the town.

During World War II it was the scene of hard fighting between the Allied Forces and the retreating Germans. History has left its marks on the entire territory, and many important people have been its protagonists from the earliest to the most recent times.