The first mention of the village of Panteleyevo dates back to 1592-1594 in the land books of the Trinity-Sergius Monastery, compiled by Yakov Petrovich Velyaminov and scribe Fyodor Andreev. The documents state: "The village of Panteleyevo on dry land, and in it the church of the Ascension of the Lord God and our Savior Jesus Christ, and the Protection of the Holy Mother of God, both wooden, one tent-like, the other in a cell structure. The church contains icons, books, candles, all provided by the parishioners. In the churchyard live the priest, the sexton, and the prosphora-baker, as well as 12 peasant households and 3 landless households. The arable land of medium fertility consists of 65 quarters, fallow land 40 quarters, forested land 20 quarters, church arable land occupies 12 quarters in the field, and twice as much in the forest, which is not cultivated." The Ascension Church was tent-like, which was common at that time, and likely served as a summer church, while the Protection Church, built "in a cell structure," served as a winter church.

By 1628-1630, the village of Panteleyevo, which was part of the Suzdal district, was listed as "The Hamlet of Panteleyevo" and was related to the village of Novo-Tatarovo, the center of the Trinity estate on the banks of the Klyazma. In the land books of the Suzdal district, the church of the Ascension of the Lord is mentioned with an altar in honor of the holy martyrs Flora and Lavra, "a worldly structure." The church had two priests, a sexton, and a prosphora-baker. There were 10 landless households at the temple, church arable land amounted to 25 quarters, and hayfields 20 copens. The village had a monastery yard, 4 peasant households, and 15 landless households. By that time, the Protection Church had disappeared, likely burned during the Time of Troubles when villages were attacked by Polish invaders and their Russian accomplices. The Ascension temple was likely rebuilt after the ascension of Mikhail Fyodorovich. In 1678, Panteleyevo remained a hamlet of the Novo-Tatarovo estate of the Trinity-Sergius Monastery. Between 1800-1810, with the funds of parishioners and the efforts of church elder Nikita Larionov, a new stone five-domed Ascension temple was built with an altar in honor of the Kazan Icon of the Mother of God, a bell tower, and a fence. Later, an altar in honor of Saint Nicholas was added. The church housed icons of the Kazan and Smolensk Mother of God.

The church owned a wooden watchman's hut on a stone foundation, built in 1904 through the efforts of church elder Vasily Ivanovich Glebov from the village of Runosikha, and a chapel in the Fatyano field, erected by parishioners from the villages of Kuvezino, Panteleyevo, and Novo-Tatarovo in memory of their deliverance from drought in 1872. The parish included the villages of Kochetikha, Seltso, Fatyano, and the now non-existent Vjazki, Dubnevo, Enikha, Zinino, Levinskaya, Metlino, Mokrovo, Ratlyanovo, and Runosikha. Notable natives of Panteleyevo, brothers Fyodor and Nikita Panteleevsky, sons of the local deacon Manuil, received their surname from the village. Fyodor, after graduating from the Vladimir Spiritual Seminary in 1831, was sent to the Kiev Spiritual Academy. His younger brother Nikita, choosing a secular career, reached the rank of state councilor and worked as the supervisor of the Kiselev almshouse in Penza.

In 1778, with the establishment of Vladimir Province, the village of Panteleyevo was transferred from the Suzdal district to the newly formed Vyaznikovsky district. From 1929 to 1964, it was part of the Palehovsky district of Ivanovo Oblast, and since June 12, 1963, it has been part of the Kovrovsky district of Vladimir Oblast, where it remains to this day.

In the 1930s, the Ascension Church in Panteleyevo was closed and gradually fell into disrepair. The bell tower and all five domes of the temple, as well as the church fence, were completely demolished.