Naurod lies on the edge of a valley that stretches from the flat Main to the Taunus. Due to the soil, it was not ideal for farming in the Middle Ages. Nevertheless, the sheltered location may have been attractive to the early settlers.

The first documented mention of Naurod dates back to 1346. In this document, Count Gerlach von Nassau handed over his land to his sons Johann and Adolf and stipulated the taxes that the villages and towns were to pay. For Naurod, it stated: "Accordingly, fourteen pounds of money from the interest for Nauerth". This proves that Naurod was already an independent settlement at this time. In 1353, the village appears again in a document in which the Counts of Nassau confirmed the residents' right to use their forests. This source shows that Naurod was already settled around 1253 and probably had its own forest.

The 30 Years' War left deep scars on Naurod. In 1634, the village was almost completely destroyed and most of the inhabitants fell victim to the plague. The few survivors fled to the neighboring villages. Naurod remained uninhabited for seven years. After 1641, only four families returned. They painstakingly began to rebuild the village, but it took over a century for the population to return to pre-war numbers.

Naurod already had a church dedicated to St. Laurentius when it was first mentioned in documents. It stood on what is now the cemetery. An image of St. Laurentius can be seen today in front of the new church. After the Reformation in 1540, Naurod lost its ecclesiastical independence and became part of the parish of Kloppenheim. It was not until 1727 to 1730 that the present church was built according to the plans of the Nassau master builder Johann Jacob Bager. Its octagonal shape in the Baroque style makes it a striking landmark of the village.

The school system in Naurod dates back to 1619, when the first school was documented. In the 18th century, a schoolhouse was built on the site of today's rectory, which was later demolished around 1825. In 1822, the old schoolhouse was built at Obergasse 11, which now houses the local history museum. In 1856, the second schoolhouse was built, which today serves as the local administration. The Kellerskopf School, built in 1972, now serves as a secondary school.

A structural change began in Naurod in the 19th century. Many people turned to the building trade, as agriculture offered little income. This development continued after the Second World War, when new building areas attracted many new residents to the village. From the 1960s onwards, the village became an increasingly popular residential community.

Naurod was officially incorporated into Wiesbaden in 1977. In order to preserve the village character and recreational value, the maximum number of inhabitants was set at 5,000. This decision helped to preserve the original charm of the village.

Radfahrverein Wanderlust Naurod 1923 e.V. is one of the most successful cycling clubs in Germany. It has been German record champion since 1994 and has won the German 5-a-side cycling championship nine times in its 100-year history.