Arzengio, from "arx", fortress (the second part of the name has an unknow origin), is a small village characterized by an agglomerate of houses of small dimensions, that follows the shape of the hill extending in elliptic shape. Arzengio was already known in the Roman epoch, of which some building traces are poorly still visible. It was probable the center, together with Arzelato, of a Roman fortress, after the win on the Liguris Apuani. The structure of the country remembers the Roman domination as well. In the Middle Age, Arzengio became place of passage along the Francigena Way or Way of Mountain Bardone.

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The villages of Pontremoli