The village was first mentioned in 1337 as Woldesende, and means "end (edge) of the wood".[5] Woudsend is a village from the Middle Ages that developed along the Ee [nl] river. The economy was mainly based on trade and shipping. The village was densely settled and is characterised by many narrow alleys.[6]
The Dutch Reformed church was built in 1660 as a replacement of the medieval church. The new church was not well founded and started to subside. In 1835, it was decided to build a new church on the other side of the village. The church was completed in 1837.[7][4] The Catholic St Michael Church was built in 1792 as a clandestine church behind a residential house. In 1933, a tower was added and the church was enlarged.[4] In 1722, a clandestine Mennonite church was built. It was rebuilt in 1858, but sold in 1968 and now serves as a pub.[4]
The village used to be located on the eastern side of the Ee river. During the 19th century, it was extended to the western side of the river.[4] Woudsend was home to 1,181 people in 1840.[7] Before 2011, the village was part of the Wymbritseradiel municipality.[7]