The city of Middelburg (population: about 46.588 ) dates back to the early 9th century or possibly the late 8th century. The first mention of Middelburg was as one of three defensive points (the burg 'in the middle') erected on the island of Walcheren to guard against Viking raids. In 844 an abbey was built there, which remained in use until the Eighty Years' War, when the northern Netherlands won their independence from Spain. Today, the abbey is used both as a museum and as the seat of the provincial government. Middelburg was granted city rights in 1217.

The city became an important trading centre. During the middle ages, it played an important role in the trade between England and the cities of Flanders. Later, in the 17th century (the Dutch Golden Age), it became an important trading city for the Dutch East India Company. Hundreds of thousands of African slaves were transported from Middelburg to North and South America, thus enriching local traders. The houses in parts of the center are the same kind of lavish mansions of rich merchants that can be found in cities like Amsterdam. There are also many storehouses dating back to the 17th century along the canals. The old city moats are still there, as is one of the city gates, the Koepoort gate. Part of the 18th century moat and defence works however were demolished in the 19th century to make way for a Canal which crosses Walcheren from Vlissingen to Veere.

Much of the old city centre was bombed flat on May 17, 1940 by the German Luftwaffe, to force the surrender of the Dutch armies in Zeeland. After the war, the centre was rebuilt as much as possible along prewar lines. The city's archives, however, were lost to the flames.