Narva Museum is one of the oldest museums in Estonia. Historical Museum was opened in the palace of Peter I in 1865 after the acquisition of this facility Narva society of citizens of the Great Guild. The museum has collections of Narva Archaeological Society, as well as items that were stored in the house of Peter I.

In August 1913 there was the grand opening of the museum to them. Lavretsov. The collection of the gallery is the private collection of the spouses Lavretsov. His collection of paintings, graphics, applied art and ethnography merchant collected more than one year. With this exposure could be available before the opening of the museum. And in 1902, a merchant Lavretsov bequeathed to assemble a collection of the city. In 1933, the union took the Palace of Peter I, and Museum. Lavretsov. After that, the house of Peter I is a collection of historical and Museum. Lavretsov became ethnographic and artistic.

In the summer of 1941 some of the exhibits were evacuated to Leningrad. Those collections that still remain here on display until 1944. In the same year, during the battles for the city, the museum building was destroyed, and the exhibits taken from Narva and transferred to the Tallinn City Museum, a museum of Rakvere and Paide.

Since 1949 there was a gradual return of the exhibits to Narva .  In June 1950 the opening of the museum on the territory of Narva Castle in the former garrison baths .  In 1986 it was finished the first phase of restoration of the fortress of Narva .  Tall Hermann Tower, as well as the western and southern wings have become available for visits .  In 1989, it hosted the opening of the exhibition of the Narva Museum, which covered the period from the 13th century to the early 18th century .  In 1991 there was the opening of the Art Gallery, where visitors can not only see the works of art, past and present, but also to listen to a lecture about the history of art, as well as to meet with the authors of exhibitions in the lecture hall .  In addition, for those wishing to try their hand at artistic skill, we have the opportunity to participate in a lesson or creative master class .  In 1996, the renovated north wing of the opening of another exhibition, covering the period from the 18th to 19th century .

In 2007, in the courtyard of the castle was opened in North Yard. It tried to recreate the 17th century part of the city in which they lived craftsmen of the time. In summer, visitors to the museum are right in the heart of history, where the person can try their hand in this or that ancient craft.