Henrietta was initially settled by European American pioneers in the late 1700s. It was originally part of the Town of Northfield, but in 1818, it became its own separate town named after Henrietta Laura Pulteney, the daughter of British land agent Sir William Pulteney. Throughout its history, Henrietta has been primarily an agricultural community, with various farms and orchards in the area. The town experienced gradual growth and development over the years, especially with the construction of the Erie Canal and the establishment of railroads nearby. In the 20th century, Henrietta saw significant suburbanization and became more of a residential and commercial area. Today, it is a bustling town with a mix of residential, commercial, and industrial areas.