Although the town was founded in the early 11th century by one of the Counts of Hainaut, Wédric le Barbu, remains of Caesar's camp and Gallic gold coins show that the site was occupied long before that. Franco-Spanish rivalries in the 16th century led to Avesnes being annexed to Spain in 1556. It only became French again with the Treaty of the Pyrenees in 1659. As with all frontiers, Vauban hastened to build fortifications. The ramparts are still clearly visible today, bearing witness to the town's history. The collegiate church and houses add to the charm of this town on a cliff overlooking the Helpe River.

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