Stinkkuil, one of the first farms in the Southern Roggeveld, belonged to Lucas Visagie, who bequested it to his children. In 1860 Daniel Tomlinson (who arrived in Cape Town from Kendal, Britain in 1853) bought the part of the farm on which Middelpos was established from Jan Nel - one of the Visagie heirs. He established a trading post and later a proper shop with three rooms was built. Tomlinson and his neighbours decided to name it Middelpos.

After Tomlinson's death the farm was eventually bought by the Sher family who developed Middelpos into a trade post supplying the large area between Ceres, Sutherland, Williston and Calvinia with negotiables and agricultural necessities and Middelpos evolved into a buzzing centre of activity for trade, auctions, sport and social activities. After the departure of the Shers the town had numerous owners until the current owners bought it in 1980.

Today Middelpos is one of the few towns in South Africa to be privately owned . The former farm school is now a hostel for a school with more than 150 pupils and the police station serves an area of 5050km2. Apart from the school and police station, the town also boasts a hotel, shop, garage and post office, as well as more than 50 residences with a population of ±300. Other attractions include: A tennis court o A 9 hole golf course Donkey and horse carriage rides (by arrangement) Milk goats. A small corbel house - built for use as a "Kruithuis".

The grave of Daniel Tomlinson - first owner of Middelpos - is a prominent entrance to the town. And their is The Imperial Yeomanry mass grave - bearing witness of the battle of 5/6 February 1902.