Efteling is one of the oldest theme parks still in existence. Its roots go when the R. K. Sport en Wandelpark was inaugurated.

In 1950, Efteling Nature Park Foundation (Stichting Natuurpark de Efteling) was founded by the mayor of Loon op Zand, R.J. van der Heijden, filmmaker Peter Reijnders, and designer artist Anton Pieck (1895-1987). The foundation was named after a 16th-century farm named Ersteling. Efteling officially opened on May 31, 1952, when the Fairy Tale Forest (het Sprookjesbos), designed by the famous Dutch illustrator Anton Pieck, was opened to the public. Initially, the Fairy Tale Forest was home to some 10 different fairy tales, all of them brought to life using original drawings by Pieck alongside mechanics, lighting and sound effects designed by the Dutch filmmaker Peter Reijnders. The life-sized dioramas, displayed together in an atmospheric forest, were a tremendous success. Efteling welcomed 240,000 visitors in 1952 alone.

Since 1978, the park has been expanded and grown to become one of the most popular theme parks in the world. In the same year, English singer Kate Bush performed in the park in De Efteling Special, which was broadcast on 11 May 1978. In early 1978, the amusement park's Haunted Castle was completed and the opening was scheduled on 10 May that year. Bush, who just had a big hit in the Netherlands with "Wuthering Heights", made her debut on Dutch television in the special. Her popularity was used to draw the attention to the Haunted Castle.

In 2010, Efteling announced plans to remain open year-round. From November through about February, the 'Winter Efteling' theme remains in place. However, attractions that involve water, such as the rapids ride 'Piraña' or the water coaster 'Vliegende Hollander' (Flying Dutchman), are closed.

Gisela Williams, a reporter for The Wall Street Journal, wrote a review of the park in early 2014. Williams praised Efteling but criticized the teacups-style ride Monsieur Cannibale due to ethnic stereotypes. Her review was later mentioned in De Telegraaf, a daily newspaper in the Netherlands, and drew several angry comments from its readership. Williams also received her first death threat for her comments about the controversial attraction. In recent years, activists have repeatedly requested the Efteling to remove or re-theme the attraction. In June 2021, the park closed the ride for an extensive renovation including a re-theme.

The park received its 123,456,789th guest on June 19, 2015. The Efteling opened the trackless darkride Symbolica in 2017. With a price tag of 35 million euros, it is the most expensive investment in Efteling history. Beside the theme park, the Efteling operates two hotels, a theatre, and two holiday villages. The Efteling inaugurated its 30th fairytale in 2019.

In December 2020, the park was forced to close in compliance with the new COVID-19 restrictions introduced by prime minister Mark Rutte and the third Rutte cabinet.