However, given its proximity to Dartford and Watling Street, it would appear that people had inhabited the area for a considerable period prior to this.  The remains of one of Britain's largest Roman Villas was discoverd close to St Margaret's Church in 1894, whilst other objects of both Roman and Saxon origin have been found close to the village.  

The Darenth Bowel, a moulded glass bowel originally made in the 5th Century represents one of the most important local archaeological finds. In addition, a 12th century carving of a harp, found in St Margaret’s Church is believed to be one of the earliest know examples of such an instrument in the country.

Although mainly rural for much of its existence, the Parish also saw the construction of what would become Darenth Park Hospital in 1878, designed to cater for children with serious learning disabilities. Originally designed to house 500 children, by 1890 over 1000 children and adults lived within its walls, taking in people from all over the South East. Ultimately, the hospital was the first mental health hospital in the country to be closed following the Government of the day’s decision to focus care away from hospitals, and the last patient was removed in August 1988. Darent Valley Hospital now stands on the site of the old facility.

Darenth would also play home to a significant fabric printing works, when the Darenth Fabric Printing Works was opened in 1939.  As well as providing flags for the British Admiralty, the company would also be the largest supplier of swastika flags to Hitler's Nazi government before the outbreak of the the Second World War.