The first mentions of Kuskovo date back to the late 16th century, and even then it was a property of the Sheremetev family. In 1715, the estate was acquired by Field Marshal Boris Petrovich Sheremetev. But its true prosperity came under his son, Count Pyotr Borisovich. After his marriage to Varvara Alekseyevna Cherkasskaya (one of Russia's wealthiest heiresses), the Sheremetevs consolidated the disparate lands into a vast estate.

Between the 1750s and 1770s, a grand complex was created here according to Pyotr Borisovich's design: a palace, park, greenhouses, and ponds. The Count personally oversaw all the work. In the 1770s, Kuskovo became one of Moscow's most popular entertainment centers: lavish receptions attracted up to 30,000 guests. The estate was visited by monarchs: Empress Catherine II visited at least five times, as did the Polish King Stanisław Poniatowski and the Austrian Emperor Joseph II.

In 1812, the estate was occupied by Marshal Michel Ney's troops, and many valuables were lost. In the second half of the 19th century, under its last owner, Sergei Dmitrievich Sheremetev, extensive restoration was carried out.