There is some evidence to suggest that the municipality of Urros was inhabited by small enclaves during the Neolithic period, around 5,000 BC. These include the cave of Buraco dos Morcegos, an immense cavern in the cliff face along the banks of the Douro River, which takes its name from the bats that are at its highest point. There are traces of paintings. There is also a rock called Peña Campã, which sounds like an anvil, having made cavities during the time of the water.

During Roman times, another cavern was discovered a little further south, Urreta Malhada, where several coins, pottery, fabric and a bronze ring were found. Near São Facundo, they are related to Castro Baldoeiro or Cidade Baniense. It was an active focus of Romanization, due to its salt mines and its strategic location in Lusitania, which resulted in the creation of a second nucleus: Meixide (current Meireide). No Neolithic pieces (a flint axe and an iron plough), tombstones and Roman coins a penny from the time of Augustus, one minted by Julius Caesar in Girona, an As (Roman coin) of Gallienus, and one of Constantine the Great, minted in Narbonne were found, now in the Regional Museum of Bragança.

In the Inquiries of 1258, there is already a reference to the parish, albeit indirectly. This is proof of its previous existence. All its lands belonged to the heirs-villains and none to the crown. Because it was close to the border, it always suffered the consequences of the skirmishes between Portugal and Spain.