Margaret is said to have regularly used the ferry crossing, when travelling between the then capital Dunfermline, and her chapel in Edinburgh Castle: St Margaret's Chapel. From around this time, the crossing became known as the Queen's Ferry. The ferry's importance diminished in importance during the 19th century, with an alternative ferry crossing operating for a while between Burntisland and Granton.

By the 1870s there was an increasing call for a bridge to built over the Forth.

The Forth Rail Bridge that was finally built between 1883 to 1890 was designed by Sir John Fowler and Benjamin Baker. And on the 4th of September 1964 North Queensferry acquired its second world class bridge, the Forth Road Bridge.

There are many remnants of days gone by which you will see as you discover the village. The old Ferry Pier and Lighthouse is a small hexagonal lighthouse, restored to its former glory, standing by the old ferry pier.

North Queensferry’s oldest existing building is a 14th century ruined chapel, the Chapel of St James the Apostle, the Patron Saint of Pilgrims. Founded by Robert the Bruce and controlled by Dunfermline Abbey, it was abandoned following the Reformation.

North Queensferry takes its name from Saint Margaret of Scotland, the wife of King Malcolm III of Scotland, who is said to have established the village to ensure there would be regular ferry crossings across the Firth of Forth for the benefit of pilgrims travelling to St Andrews.