Its origins go back to the ancient Vettones, who founded it. It subsequently became a Roman village. With the Visigoths, it was situated around the collegiate church of Nuestra Sra de las Huertas (Our Lady of the Gardens), now in ruins.
It is believed that at the top of the hill that enclosed the town there was a monastery called Bíclaro, which would be the word from which the towns name derives. It was taken in the 11th century by the Muslims, until it was definitively reconquered in 1186 under the orders of King Alfonso VIII.
At the end of the 14th century it came to depend on the demesne of the Zúniga family, who acquired the rank of Dukes of this town and who governed it until the beginnings of the 19th century. Its most important activity and the livelihood of practically all its inhabitants, which started in the 13th century, was that of textiles.