Westhorpe Hall (demolished c. 1740) was once a seat of the Dukes of Suffolk and also residence of Mary Tudor, who died there. A later building on the site became the Westhorpe Hall Hotel. The village was recorded in Domesday as "Westor".
Westhorpe was a sizeable settlement in Tudor times, but lost many inhabitants in the Black Death.
The village is now dry, but pub nights are held in the village hall.