Records of a Hall at Eshott date back to 1310, when Roger Mauduit was given a Royal licence to crenellate his dwelling house. The Estate was formed when, in 1328, he was appointed to receive lands of value £2,000 per annum on behalf of Joan, the King's sister.

In 1349 a rebellion on the Estate against the King led to the confiscation of the land by the Crown, but in 1358 the land was restored to John Mauduit (Roger's son). At this point the village is referred to as 'Esshete' and the Castle of Esshete is mentioned in the list of fortalices in 1415 belonging to Sir John Heron, a knight. In 1535 John's son William died and was succeeded by his granddaughter Elizabeth, who later married Thomas Carr. In 1588 William Carr purchased the Estate and in 1624 it was inherited by his grandson.

The years between 1588 and 1600 are critical for the Estate, as it is during this period that Robert Trollope designed and built the Hall for William Carr. It is this original design which can still be seen today, albeit slightly modified.

In 1792 the Carr dynasty collapsed, Thomas Carr was ruined by his own extravagance. The Estate was sold to Thomas Adams for £34,000 who left it to his brother and who, in turn was succeeded by his son, Dr. William Adams of Calcutta. He died intestate in 1818 and the Estate was divided among the children of Robert Adams and was eventually bought by one of the Adams' daughters.