The islands may have been visited by the Phoenicians, the Greeks, and the Carthaginians. King Juba II, Caesar Augustus’s Numidian protégé, is credited with discovering the islands for the Western world. According to Pliny the Elder, Juba found the islands uninhabited, but found “a small temple of stone” and “some traces of buildings”. Juba dispatched a naval contingent to re-open the dye production facility at Mogador in what is now western Morocco in the early first century AD. That same naval force was subsequently sent on an exploration of the Canary Islands, using Mogador as their mission base.

The names given by Romans to the individual islands were Ninguaria or Nivaria (Tenerife), Canaria (Gran Canaria), Pluvialia or Invale (Lanzarote), Ombrion (La Palma), Planasia (Fuerteventura), Iunonia or Junonia (El Hierro) and Capraria (La Gomera).

From the 14th century onward, numerous visits were made by sailors from Majorca, Portugal and Genoa. Lancelotto Malocello settled on Lanzarote in 1312. The Majorcans established a mission with a bishop in the islands that lasted from 1350 to 1400.