The village name 'Claydon' is Anglo Saxon in origin, and means 'clay hill'. In the Domesday Book of 1086 the area (including the nearby places of Botolph Claydon, East Claydon and Middle Claydon) as Claindone. The prefix 'Steeple' refers to the steeple of the parish church, which is prominent in the village, and was added to differentiate it from the other local places.
The manor of Steeple Claydon was once a royal possession. It was given as a wedding gift to Robert D'Oyley by King Henry I because D'Oyley was marrying one of the king's former mistresses. Later, after changing hands several times it came into the possession of King Edward IV when it was left to him in the will of his grandfather the Earl of March. The manor house has since been pulled down.
Today Steeple Claydon is one of the largest villages in the Aylesbury Vale, and it has a very active local community.