Located by the upstream of the Nakdonggang River, Andong has the relics from the Neolithic Period, telling us that it has been inhabited by people since the Neolithic Period. Andong was a part of Jinhan during the Period of Samhan. According to the History of Three Empires, Yeomsangdosa looked for a perfect site for his people and came here to found a tribal state called Changnyeong-guk in 57 B.C.

It was called Gotaya-gun in Silla and Gulhwa-hyeon as a part of Goguryeo as it was adjacent to Goguryeo. It was a part of Silla since King Jinheung.

It was renamed Gochang-gun with the new township system during the reign of King Gyeongdeok (757). Later, its name changed to Ilgye-gun, Jipyeong-gun, Hwasan-gun, Goryeong-gun, Gojang-gun, Seongneung-gun, and so on.

When Founder Wanggeon and Kyeon Hwon of Later Baekje fought in Byeongsan of Andong in the early years of Goryeo, Kim, Seon-pyeong, the lord of the town, led the local people along with Jang Gil and Kwon Haeng to help Wanggeon with their meritorious performance. Therefore, the town was promoted to a Bu and its name was changed to Andong (13th year of King Taejo: 930). The name was later changed to Yeongga-gun, to Gilju in the 14th year of King Seongjong (995), to the home to Anmusa in the 3rd year of King Hyeonjong (1012), and back to Andong-bu in the 21st year of the same king (1030).

As Kim Sam and Hyoshim of the Thieves of the South invaded and stole from the Ju and Gun in the 27th year of King Myeongjong (1197), a Chasa (temporary position) was sent to conquer them. As Bu made a contribution, Andong was promoted to a Dohobu. In the 7th year of King Sinjong (1204), Yabyeolcho and Paejwa of Donggyeong (Gyeongju) gathered a group of people for a revolt, and Andong made another contribution to conquer them to be promoted into a Dae Dohobu.

In the 34th year of King Chungnyeol (1308), it was renamed Bokjumok. In the 10th year of King Gongmin (1361), the king marched to the south to evacuate from the Revolt of Honggeonjeok. As the people of Andong served the kingdom with devotion while he was staying in this town, the town was promoted back to a Dae Dohobu to administer 17 Guns and Hyeons nearby.

In the 9th year of King Woo (1383), it was renamed Andongdo (安東道) to appoint Wonsu (Military Officer)/Busa (Local Administrator). In the 14th year of the same king (1388), it regained the name Busaje.

In 914, Yean-gun was merged and reorganized into 19 Myeons. In 1931, Andong-myeon was promoted to Andong-eup to integrate some Myeons to reorganize into 1 Eup, 15 Myeons, and 218 Dongs.

In 1962, Andong-eup was promoted into a city and renamed Sinandong-si. As the people had a different opinion about the name of city, the name was changed to Andong-si as of January 1, 1963.

In 1973, Pungsan-myeon was promoted to Eup and in 1974, Wolgok-myeon was abolished due to the construction of Andong Dam.

In 1995, Andong-si and Andong-gun were integrated into Integrated Andong-si with 1 Eup, 13 Myeons, and 18 Dongs. With the integration of administrative zone, 5 Dongs were abolished on July 1, 1997 to leave 1 Eup, 13 Myeons, and 13 Dongs. Following the second integration on December 1, 1998, 3 Dongs were abolished to leave 1 Eup, 13 Myeons, and 10 Dongs that remain today.