The town was named after Dover in England, the home town of an early settler. The town was originally formed in 1807 from part of the Town of Pawling. Dover is located on Route 22 which connects its residents to major highways such as 684 and the Saw Mill Parkway. The Dover Plains station on the Metro-North Railroad Harlem Line easily connects residents to NYC.  
 
Educational Facilities
The Dover Union Free School District serves the town of Dover. The school age population is under 1,800 children. Wingdale Elementary School serves grades K thru 2; Dover Elementary School serves grades 3 thru 5; Dover Middle School serves grades 6 thru 8; and Dover High School serves grades 9 thru 12. Nearly 90 percent of all classes throughout the school district were taught by “highly qualified” teachers who possessed both a bachelor's degree & state teaching certification in core academic subjects.
 
Recreational Facilities
In and adjacent to Dover lie an abundance of parks and outdoor recreational activities. Less than five miles across the Connecticut border is the Macedonia Brook State Park, a 2,300 acre park offering fishing, camping, hiking & picnicking. Lake Waramaug is a 95 acre park offering scuba diving & traditional park activities. Kent Falls State Park has 295 acres offering a scenic cascading waterfall, fishing, hiking and picnic areas. The “Dover Day” carnival features rides and games and a tent in which local businesses and non-profit organizations can distribute information.

Houses of Worship
The Dover Plains United Methodist, Greater Grace Community Church, Jehovah's Witnesses, St. James Episcopal Church, and St. Charles Church are all within the Town of Dover. Most all other denominations are within a short driving distance.