The ancient name of the town was Casalicchio until 1893. The first historical records of its foundation date back to around the year 1000. The first settlers were Basilian monks, who established themselves in what is now the district of Marina di Casal Velino.
After the year 1000, the population was forced to move to the hills due to malaria and Saracen raids. It remained an autonomous municipality until 1806.
The current name is derived from the Latin "casalis litus", meaning "farmstead by the port".
The town was part of the Cava de' Tirreni Abbey jurisdiction from 1410 to 1973, after which it was incorporated into the Vallo della Lucania district.