The estate of landowners S.V. Isupov and D.S. Davydova has been known since 1631. At that time, the village was called Maltsevo, and in the late 17th century, it, along with the surrounding lands, was granted to the nobleman Mikhail Andreyevich Yeropkin, who was appointed as the voivode in Kaluga by Tsar Mikhail Fyodorovich. Since then, the estate has been owned by his descendants, and the last owner of Grabtsevo was Princess O.N. Kantakuzina.

In 1719, Colonel Dmitry Fyodorovich Yeropkin, in a petition to the Patriarchal Treasury, stated: "In my estate in the Kaluga district in the Podgorodny stan in the village of Grabtsevo, the wooden church of the Holy Virgin Odigitria and the chapel of St. Nicholas the Wonderworker are old and dilapidated, and now I promise to build a stone church instead of that dilapidated one." In 1722, the construction of the church was completed, and on May 22, a decree was issued for the new church to be named in honor of the Dormition of the Holy Virgin. The church was distinguished by its original window trim in the style of late Baroque. In 1732, landowner Andrey Fyodorovich Yeropkin built a winter wooden church in Grabtsevo in honor of St. Nicholas the Wonderworker. Currently, the churches are being restored.

In 1771, a "plague riot" began in Moscow. Long-standing discontent among the people erupted in the murder of Archbishop Ambrose, who had forbidden the "kissing" of icons to stop the spread of the disease. The Moscow authorities fled, and Pyotr Yeropkin took command of the city. Contemporaries remembered him as a brave and selfless man, which allowed for his considerable wealth.

In winter, he hosted grand dinners in his Moscow palace, which could accommodate all the provincial institutions of Kaluga, while spending summers in Grabtsevo.

Pyotr Yeropkin had a horse breeding farm with "German and Neapolitan horses" at the estate, while the Kantakuzins had a cheese factory and developed agriculture with crop farming, livestock breeding, and horticulture.

The old house in Grabtsevo was wooden. In front of it was a parade yard with a flower garden, and to the right, a utility yard with separate gates. Neither the old house, nor the wings, nor the utility buildings (except for one) have survived. The only surviving structure has pointed windows, and it is likely that the house was in the Gothic style.

On the bank of the Gorodenka River, a majestic regular park was laid out, which has survived to this day. Of the "Gothic" towers of its stone fence, only one, the northwestern one, has survived. Near the pond, the tower almost touched the water. The park's alleys, diverging like a "star," are well preserved.

The pond in Grabtsevo, which has not survived to this day, was enormous. The park's shore was filled and leveled, and pines were planted along its edge. The central alley flowed into it like a river into a mouth. From the opposite bank, through the gaps in the trees, churches can be seen, adding mystery and romance to the park.

To this day, the three-story main house from the mid-19th century with subsequent alterations and simplifications has survived; two one-story utility buildings from the late 18th to early 19th centuries; the summer Assumption Church of 1722 with features of Moscow Baroque, built by D.F. Yeropkin; the winter Nicholas Church of 1791 in the style of Classicism, constructed by P.D. Yeropkin; a bell tower from the late 18th century with elements of neo-Gothic; a chapel of Adrian and Natalia from 1815, erected over the grave of P.D. Yeropkin; a two-tiered tower of the estate fence from the late 18th century in neo-Gothic style; a regular linden park with a pond from the late 18th century. The wings, utility buildings, estate fence, and small architectural forms have been lost.