Fort Ingoldsby was constructed in 1709 on the orders of Peter Schuyler to protect the site of the future village.
The village was incorporated in 1816.
Stillwater is the current historical site of "The Blockhouse" since it has been moved from Saratoga battle field.
Stillwater also has other sites such as the Octagon house and the twin houses built in the late 19th century.
Stillwater plays an important role in Caleb Carr's period murder mystery The Angel of Darkness published in 1997.