Orinda is located within four Mexican land grants: Rancho Laguna de los Palos Colorados, Rancho Acalanes, Rancho El Sobrante and Rancho Boca de la Cañada del Pinole. The area was originally rural, mainly known for ranching and summer cabins. The Moraga Adobe was built in 1841, and is the oldest building in the East Bay. In the late 19th century, the land was named by Alice Marsh Cameron, probably in honor of the poet Katherine Philips, who was also known as the “Matchless Orinda”.

In the 1880s, United States Surveyor General for California Theodore Wagner built an estate he named Orinda Park. The Orinda Park post office opened in 1888. The post office’s name was changed to Orinda in 1895. Orinda was also the site of Bryant Station, a stop on the failed California and Nevada Railroad around the turn of the 20th century. Later, the area around Bryant Station was known as Orinda Crossroads.