A farmstead with a horse mill stood on the location of the current Huis Welgelegen as early as 1571. From 1650 to 1832, it was used as an inn. It was conveniently situatred on one of the access roads to the nearby city of Zutphen.

In 1832, the complex was converted into a country estate. The former inn was connected to a newly built mansion in the classicist style. The English landscape-style garden also dates from this period. The house subsequently served as a residence for various owners, but has also had other functions. From 1870 to 1897, for example, it was used as a boarding school for girls.

The garden was given the name Overtuin and was enriched with flower beds and fruit trees. The garden is home to unusual trees and is known for the stinzenplanten (historical bulbs growing for centuries as wildflowers) that bloom abundantly in the spring.

Since 1986, Huis Welgelegen has been owned by the Stichting Warnsveldse Monumenten Today Febryuary 2026), it houses a private residential care centre.