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The oldest human remains from the area are funerary remains from the 9th-8th centuries BC, belonging to the Villanovan culture or the proto-Etruscan civilization.
The ancient Firmum Picenum was founded as a Latin colony, in 264 BC, after the conquest of the Picentes, as the local headquarters of the Roman power, to which it remained faithful.
- The cathedral of Fermo.
- The Roman theater; scant traces of an amphitheater also exist. Remains of the city wall, of rectangular blocks of hard limestone, may be seen just outside the Porta S. Francesco; whether the walling under the Casa Porti belongs to them is doubtful. The medieval embattled walls superposed on it are picturesque.
- The cisterns of Fermo are an archaeological site situated on top of the hill, at 310 metres (1,020 ft) above sea level. Fermo boasts one of the most gigantic and well-preserved example of Roman cisterns in Italy. They were built around 1st century a.C. The structure is a rectangular construction of about 30 by 70 metres (98 by 230 ft) consisting of 30 underground rooms: they provided water for the city probably through public fountains. The underground pipe network above the cisterns was connected to a canal around the external walls. From the canal, small pipes brought water into the cisterns: water inlets are still visible inside the rooms. The cisterns are made of Opus caementicium which is the waterproofing old Roman concrete. The level of the water inside the rooms was about 70 centimetres (28 in) and the total amount of water inside was about 3000 mq.
- The Palazzo dei Priori, restored in 1446, with a statue of Pope Sixtus V in front of it. The Biblioteca Comunale contains a collection of inscriptions and antiquities.
- San Francesco: church's choir dates to 1240, the rest having been restored in the 17th century.
- San Martino
- San Domenico
- San Michele Arcangelo
- San Rocco
- Chiesa della Pietà
- Santa Maria del Carmine
- San Filippo
- San Zenone
- San Agostino