The region was first settled around 1680 by travelers from the small village of Charlton, located in Worcestershire, UK. The town was formed in 1792 from the Town of Ballston immediately after Saratoga County was established. The town was previously known as "Freehold" due to the number of settlers from New Jersey.
As of the census of 2000, there were 3,954 people, 1,429 households, and 1,204 families residing in the town. The population density was 120.5 people per square mile. There were 1,464 housing units at an average density of 44.6 per square mile. The racial makeup of the town was 98.46% White, 0.28% African American, 0.15% Native American, 0.32% Asian, 0.10% from other races, and 0.68% from two or more races. Hispanic or Latino of any race were 0.96% of the population. There were 2,429 households, out of which 34.7% had children under the age of 18 living with them, 75.4% were married couples living together, 5.3% had a male householder with no wife present, and 15.7% were non-families. 12.9% of all households were made up of individuals, and 6.6% had someone living alone who was 65 years of age or older. The average household size was 2.74 and the average family size was 3.00. In the town, the population was spread out, with 25.2% under the age of 18, 5.4% from 18 to 24, 24.2% from 25 to 44, 31.9% from 45 to 64, and 13.3% who were 65 years of age or older. The median age was 42 years. For every 100 females, there were 95.2 males. For every 100 females age 18 and over, there were 96.0 males. The median income for a household in the town was $63,396, and the median income for a family was $66,250. Males had a median income of $47,813 versus $30,208 for females. The per capita income for the town was $27,924. About 0.6% of families and 1.2% of the population were below the poverty line, including none of those under age 18 and 3.3% of those age 65 or over.
West Charlton - A hamlet northwest of Charlton, located on NY-147. The West Charlton United Presbyterian Church was listed on the National Register of Historic Places in 1998.
Wheeler Estates - A location in the southeast part of Charlton.
