On September 19, 1936, the memorial house-museum of Tsiolkovsky opened in Kaluga. In this house, the outstanding Russian scientist lived from the spring of 1904 until 1933, after which he moved to another house in Kaluga, where he passed away on September 19, 1935. During the 29 years spent in this house, Tsiolkovsky completed many significant works in the fields of aeronautics, aviation, rocket motion, and astronautics, which gained worldwide recognition. In 1908, the house was damaged by a major flood, necessitating serious repairs. At that time, by Tsiolkovsky's order, the building was expanded: a second floor was added, which housed his study, and a veranda with a workshop.

After the opening, the house-museum housed a scientific and memorial exhibition, which suffered greatly during World War II. An important milestone for the museum was 1957, when the 100th anniversary of the scientist's birth was celebrated. By this time, the scientific and technical section of the museum received a new exhibition from the Academy of Sciences, prepared at the initiative of Korolev. The exhibition featured unique exhibits that tell about the realization of Tsiolkovsky's ideas.

In 1967, a new State Museum of the History of Cosmonautics named after Tsiolkovsky opened in Kaluga, and the former house-museum became its memorial department. The following year, it was closed for restoration, and soon the interiors of the house, outbuildings, courtyard, and garden were restored according to the project of architect Morozov, as they appeared during the scientist's lifetime.

Today, the museum represents a memorial composition dedicated to the life of the Tsiolkovsky family in this estate. Among the exhibits are authentic items and household objects of the scientist and his relatives. The museum also houses a book of honorary guests with an entry made by Yuri Gagarin: "With great satisfaction and excitement, I visited the house where Konstantin Eduardovich lived and created. I am happy that I was the first to realize Tsiolkovsky's dream and complete the work of many thousands of people who prepared for the first human flight into space."