The first meeting house in Pickering was bought around 1675 and registered in 1689. The
property was located in Undercliff. There was a burial ground attached, the first recorded
use of which was in 1696. It is not clear whether the building was adapted from an existing structure, however it apparently had the customary arrangement of two chambers.
In 1793 a substantial new meeting house was built on Castlegate, above Undercliff, with a burial ground and garden. Regular meetings were discontinued between 1843 and 1936, then in 1879 the building was
refurbished and the women's meeting room was re-fitted. Cloakrooms were added in 1945.
At about the same time a large wooden hut from the former Pickering Golf Club was erected to the north west of the meeting house to serve as a hostel (this has since been demolished).
A new kitchen extension was added on the north side of the meeting house in 1976 and has been enlarged and improved in recent years.
The meeting house still retains much of its original character and features typical of early Quaker meeting houses.