The medieval settlement of Felton, known as Felton Parva or Superior, was a member of the barony of Mitford. It is known from documents in the 13th century when it was mostly held by Brinkburn Priory. Details of changes in ownership are documented in the 16th, 17th and 18th centuries. However, by 1769 only one farm is shown on a map of the county. Remains of the village's field system survive as ridge and furrow earthworks near Old Felton Farm.