Between Sassoferrato andArcevia was the hill called Civitalba from the name of the ancient city there.[4]
To the south of the town lie the ruins of the ancientSentinum, on theVia Flaminia.
The castle above the town is mentioned from the 11th century; the town belonged to theHouse of Este from 1208, later to theAtti family, becoming a free municipality in 1460 after the assassination ofLuigi degli Atti.