The house was built in 1625 by George Sitwell (1600–1667) who in 1653 was High Sheriff of Derbyshire. Substantial alterations and additions were made to the building by Sir Sitwell Sitwell around 1800.
The notable gardens, including an Italianate style garden laid out by Sir George Sitwell (1860–1943) are open to the public. The Hall is open only for groups by private arrangement. The Park is listed in the Register of Parks and Gardens of Special Historic Interest in England as Grade II*.
The BBC version of Pride and Prejudice used footage shot at Renishaw Hall. D. H. Lawrence is said to have used the local village of Eckington and Renishaw Hall as inspiration for his novel Lady Chatterley's Lover.