While still part of Massachusetts, the town was granted as Baker's Town after Captain Thomas Baker in 1736. After New Hampshire became a separate colony, the town was re-granted with the name Stevenstown. Additionally known as Gerrishtown and New Salisbury, the name Salisbury was taken when the town incorporated in 1768.
Orator and statesman Daniel Webster was born in what had been Salisbury in 1782. His birthplace is now located in the newer city of Franklin.
Salisbury is located about 20 minutes northwest of Concord, which is considered the local area for shopping, dining and entertainment. Salisbury is part of the Merrimack Valley School District.