Tårup was first mentioned in 1361 as Thorpe. The name comes from the Danishword 'torp', translating to a settlement with a population from another village - in this case Frørup. Through the Middle Ages most of Tårup was owned by the crown.
Tårup Church is located in Tårup, and was built in 1883 by Jens Eckersberg. The church's current organ is from 2001. A model ship was bought during the church's 100-year anniversary in 1983. The ship is a model of a ship that sailed in the Great BeltStrait when the church was built in 1883. The two bells in the church are from the Netherlands and were built in 1972.