Nucharovo is first mentioned in the Arzamas land acts of 1585 as a village gifted by the tsar to the resident of Sviyazhsk, Pyotr Churkin. It received the status of a village around 1690, when a wooden church was built in honor of Archangel Michael with an altar dedicated to the Nativity of the Blessed Virgin Mary. The name of the village indicates its Mordovian origin and is associated with the pagan name Nuchar. Local historian Alexander Bazaev offers another version: "living on Nucha," suggesting that the founder was from the neighboring village of Nucha.

In 1751, Nucharovo belonged to the titular councilor Ivan Vasilyevich Tatishchev, and it had 455 men and 258 women living there. In 1784, among the owners of the village were councilor Pyotr Vasilyevich Tatishchev, collegiate assessor Afanasy Ivanovich Ziminsky, Alexander Stepanovich Solovtsov, and Mikhail Pavlovich Zhukov. From 1805, the village was owned by Ziminsky's daughter, Natalia Afanasevna Stremoukhov, and from 1828, part of the village passed to the princes Gagarin. The Stremoukhovs and Gagarins owned lands in Nucharovo until the 1917 revolution. The construction of the local stone church, completed in 1820, is associated with the name of Ziminskaya-Stremoukhov. The main altar of the church is dedicated to the Nativity of the Blessed Virgin Mary, the right altar to Archangel Michael, and the left to the great martyr Barbara.

The expedition did not find any burials near the Nativity church in Nucharovo; however, according to the "Address Calendar of the Nizhny Novgorod Diocese" for 1904, a wooden cemetery church existed in the village since 1737. The main altar was dedicated to Saint Nicholas the Wonderworker and Saint Dmitry, Metropolitan of Rostov, while the left altar was dedicated to martyrs Adrian and Natalia.

In the spring of 2014, a relative of the regent of the Nativity church V.V. Mikhalev contacted the project "White Spots on the Map of Memory" in the Nizhny Novgorod region. He proposed another version of the origin of the village's name: a river called Chara flowed through a large ditch, and nearby was the village of Nucha. He also shared family legends about the owner of the village, her estate, and the church, and mentioned that pottery was well-developed in Nucharovo. Clay was extracted from a nearby quarry, so a lot of brick was used in construction. The village was famous for producing steam boilers, which were exported to Europe, and for brass and copper parts, including decorative items for various utensils.