Narva Museum is one of the oldest museums in Estonia. The historical Museum was opened in the Palace of Peter I in 1865, after the acquisition of this building Narva society of the citizens of the Great Guild. The Museum presented a collection of Narva archaeological society, and the objects kept in the house of Peter I.

In August 1913 was the Grand opening of the Museum. Lavrinovich. The collection of the gallery was private collection couple Lavrinovich. His collection of paintings, graphics, applied art and Ethnography merchant collected more than one year. With this exposure were available before the opening of the Museum. In 1902, a merchant Lavrenov bequeathed the collection to the city. In 1933, the Union held the Palace of Peter I and Museum. Lavrinovich. After that, the house of Peter I is located the historical collection and Museum. Lavrinovich became ethnographic and artistic.

In the summer of 1941 some of the exhibits were evacuated to Leningrad. Those collections that were still here were shown until 1944. In the same year, during the fighting for the city, the Museum building had been destroyed, and artifacts removed from Narva and transferred to the Tallinn city Museum, Rakvere and Paide.

Since 1949 there was a gradual return of the exhibits to Narva. In June 1950 was the opening of the Museum on the territory of the Narva castle in the former garrison baths. In 1986 finished the first stage in the restoration of the Narva fortress. The tall Hermann tower, and the Western and southern wings, became available to visit. In 1989 there took place opening of the exhibition in Narva Museum, which covered the period from the 13th century to the beginning of the 18th century. In 1991 marked the opening of the Art gallery, where visitors could not only get acquainted with works of art past and present, but also to listen to lectures about art history, and meet with the authors of the exhibitions in the lecture hall. In addition, for those wishing to try their hand at artistic skill, have the opportunity to participate in the lesson or master class. In 1996, renovated in the Northern wing the opening of another exhibition, covering the period from the 18th to the 19th century.

In 2007, in the courtyard of the castle was opened to the North yard. It tried to recreate part of the city from the 17th century in which they lived craftsmen of the time. In summer, guests of the Museum are immediately in the center of the story, where you can try your hand at one or another ancient craft.