The Teatro de Marionetas do Porto was founded in September 1988, a symbolic date that coincides with the company's presentation in the official selection of the Festival Mondial des Théâtres de Marionnettes, in Charleville-Mézières.

In 2008, the TMP celebrated 20 years of activity and, alongside the premiere of a new production with a somewhat celebratory character - ‘Boca de Cena: Teatro-Jantar’ - it offered audiences of all ages a revisit to its past, presenting 17 outstanding productions from the company's career. Between Porto, various Portuguese cities and a few trips abroad, the company reached an all-time high: 216 performances for 23,017 spectators.

The official opening of the museum (in 2013) marked the company's 25th anniversary. Housed for the first three years in building no. 22 on Rua das Flores, on 29 September 2016 it moved to the building next to the company's headquarters on Rua de Belomonte. Puppets, props and other emblematic objects used in the company's shows, as well as some of their stories, are exhibited and shared here.