Lavtarski Vrh was attested in written sources as Waltherschogel in 1291, Waltersskhiuorch in 1584, and Woltharski Verch in 1610. It was also recorded in the past as Balterskhiwurch. In 1291 the village's name was also recorded as Hrastnica, named after Hrastnik Hill to the southwest. It is also known as Lavtršnji Vrh in the local dialect. The modern name Lavtarski Vrh is a result of dialect metathesis, and it is equivalent to Valterski Vrh, a village to the south-southwest.