The village of Annenkovo was founded between 1704 and 1706 on land owned by the nobles Ivan Ivanovich, Afanasy Ivanovich, and Safon Annenkov, who were children of the Alatyr nobleman Ivan Fyodorovich Annenkov. The first residents of the village were relocated from the Annenkov estates in Alatyr. In 1743, Ivan Ivanovich Annenkov built a stone church in honor of the Kazan Icon of the Mother of God, with chapels dedicated to Saints Peter and Paul, as well as Saint Nicholas the Wonderworker. There is a legend about an underground passage connecting the church with the Annenkov manor. One of the village residents recalls how, in her youth, she and her friends, having heard about the underground passages, decided to find them. On the outskirts of the estate, the girls discovered steps leading down and began to descend. The further they went, the harder it became to breathe, and soon they decided to turn back. Currently, the entrance to the underground passage is blocked, and the condition of the estate leaves much to be desired.