The history of Benahavís dates back to the Moorish period, when the region was part of the Taifa of Marbella during the reign of the Caliphate of Córdoba. The Moors built Montemayor Castle in the 10th century, which became a key strategic site due to its elevated location. Perched high on a hilltop, the castle offered commanding views of the coastline, providing protection against potential invasions. Even today, remnants of Montemayor Castle stand as a testament to the village's Moorish heritage, and visitors can still enjoy breathtaking panoramic views from the castle ruins, stretching from the Mediterranean Sea to the African coast on clear days.

The name "Benahavís" itself is derived from the Arabic "Ben al Havis," meaning "son of Havis," which suggests that the village may have been named after an important Moorish leader or landowner. During the Reconquista—the Christian reconquest of the Iberian Peninsula—Benahavís witnessed numerous battles as the Catholic monarchs sought to reclaim territory from the Moors. The fall of nearby Marbella in 1485 marked a turning point for Benahavís, which subsequently came under Christian rule. Over time, the village transformed, embracing a blend of Moorish and Christian influences that shaped its culture and architecture.