Located atop a hill popularly known as Asahi-yama some 1.7km, 22 min, to the south of Mito Satation this is one of the Three Miya of Hitachi Province (常陸国三宮, the other two are Kasahara Jinja, 笠原神社, and Sakado Jinja 酒門神社, both also located in Mito-shi).  It is also one of the seven shrines in the Naka District (那珂郡) of Hitachi Province listed in the Engi-shiki (Procedures of the Engi Era, compiled in 927).​

While passing through Hitachi Province on their return from subjugating the Emishi people in the north of Japan, the troops led by Yamato-Takeru bivouacked at a place called Asahi-yama and built a shrine to honour their commander. This is the origin of this Yoshida Jinja.

Just when the shrine was founded is unclear, but according to a document dating to 1301 in  its possession the shrine had been in existence for over 800 years at that time, and based on this it is thought to have been founded sometime between 485 and 498.

In 1193 the main hall was rebuilt on the instructions of the provincial governor and the ceremony attendant on this, the Sengū-shiki ( 遷宮式) was held in December of that year. This Sengū-shiki later became the model for the one held by Kashima Jingū. In 1261 the shrine’s ranking was raised from Junior First Rank (従一位) to Highest Rank (正一位) .Jumping forward over three centuries to 1570, the Lord of Mito Castle,  Edo Shigemichi, presented his long sword to the shrine as part of his coming-of-age ceremony.