Since the 15th century, the estate was owned by the Boyars Belkin. The founder of the village and the progenitor of the noble family of Belkins is considered to be Ivan Fyodorovich Belka Otyaev. According to one version, these lands were granted to him by Ivan III, while another states that his father, Fyodor Dutka, received them from Prince Mikhail Andreyevich Vereysky. At that time, Maloyaroslavets was part of the Vereysky domain.

In the late 16th century, the Belkino estate passed to the Godunovs. In 1611, it was acquired by the Dolgorukovs, and in 1741, by the Vorontsovs.

In the 1770s-80s, Count Ivan Illarionovich Vorontsov, passionate about construction, built a stone house, a church, and laid out a linden park. The name of the architect is unknown, but art historians suggest that the famous Moscow architect Karl Ivanovich Blank participated in the design of the church, as Count Vorontsov often engaged him for construction in his estates. Under Ivan Illarionovich, the estate acquired stone buildings, a house and a church, as well as a park with cascading ponds, recognized as a masterpiece of landscape art from the late 18th century.

The main house, built by Count Vorontsov, is considered an outstanding monument of early classicism. The three-story mansion made of oversized bricks features a monolithic, almost cubic volume, without columns or pilasters.

In 1793, Belkino, as a dowry, passed to Anna, the daughter of A. I. Vorontsov and granddaughter of Ivan Illarionovich, who married Dmitry Petrovich Buturlin. After 1817, the Buturlins moved to Italy, and the last owners of the estate were the Obninsky nobles. The city of Obninsk, where the Belkino estate is located, is named after this family.

After nationalization in 1918, the estate came under the management of local Soviet authorities. By the end of the 20th century, this monument of the Catherine era was on the brink of destruction. The mansion was left in ruins, the wings and the 'Riga' building collapsed. Of the four cascading ponds, only the second remained, but it was covered in slime. The dried bed of the Great Pond turned into a dump for old cars. Currently, local residents are actively trying to restore the Belkino estate. The Borisoglebsky church has already been fully restored.