The municipality of Westenfeld was first mentioned in a document in 871 as "Westelernvelt", later in 1185 as "Westinvelt" with an independent church.

Westenfeld was originally the property of the Counts of Henneberg.

It is a so-called "Haufendorf" (clustered village), with a typical layout for the southern foothills of the Thuringian Forest. Franconian half-timbering is still the preferred building style. Some farmsteads still have the typical Franconian hallway with stables underneath.