The legendary Polynesian navigator Kupe landed at Komanga Point, 3 kilometres west of Titahi Bay, leaving an anchor stone which today can be seen at the Museum of New Zealand Te Papa Tongarewa.

The area was settled by Māori for many years before the arrival of Europeans, and several pa sites are located nearby. The area was also the site of many inter-iwi conflicts, notably in the 1820s, when the area was invaded by the followers of Te Rauparaha.
The first European residents were whalers operating from Korohiwa, between Titahi Bay and Komanga Point.

During World War II, a camp housing US military personnel was built in Titahi Bay.
In December 2010, the name of the suburb was officially changed to Tītahi Bay.
Surfing is a popular activity at Titahi Bay. Titahi Bay is a beach break that can be surfed on all tides and during periods of onshore winds is generally the time to go there. The surf breaks have a vast array of size and skill sets, from the Rocks (1.5–2 m) to the famous Locals (1-2m) to the Fishermans (inside 2-3m, outside 3-5m) mainly all from a northwesterly swell direction. This all changes when the south swell arrives, with different breaks from different swell directions. A surfing club has operated for over 30 years. Two NZ champions originate from the area. The Titahi Bay Surf Life Saving Club is located in the centre of the bay.
The boat sheds at the northern and southern ends of the beach are often featured in photographs of the area.

The fossilised remains of a petrified forest from the Pleistocene era are located at Titahi Bay and form an intertidal reef. The forest was dominated by podocarps and tree-ferns and dates from the last interglacial period 150,000–70,000 years ago. It is amazing to see when visible.