The name Ursula has its origins in Latin, deriving from the Roman family name Ursius, which itself is believed to come from the Latin word "ursus" meaning "bear." This name was likely initially used as a nickname or cognomen for someone with a bear-like appearance or temperament.

In late antiquity, Ursula became associated with the legend of St. Ursula, a medieval Christian saint and virgin martyr. According to the legend, she was a British princess who, along with 11,000 virgin companions, was martyred by the Huns while on a pilgrimage to Rome in the 4th or 5th century. This legend, though lacking historical basis, contributed to the popularity of the name among Christians in medieval Europe.

One of the earliest recorded bearers of the name Ursula was St. Ursula herself, whose feast day is celebrated on October 21st by the Roman Catholic Church. Another notable Ursula from the Middle Ages was Ursula of Münsterberg (c. 1491-1543), a Duchess of Münsterberg and Oels in Silesia.

During the Renaissance period, the name gained further popularity, with notable bearers including Ursula Nantenhoven (c. 1550-1642), a Dutch Catholic nun and mystic, and Ursula Pole (1504-1570), an English Catholic martyr and member of the Plantagenet dynasty.

In the 17th century, Ursula Gertrud von Küefstein (1629-1705) was a German noblewoman and abbess of the Benedictine convent in Münster. Around the same time, Ursula Falconieri (1642-1723) was an Italian Roman Catholic nun and founder of the Oblate Sisters of the Most Holy Conception.

In more recent history, notable bearers of the name include Ursula K. Le Guin (1929-2018), the acclaimed American author of science fiction and fantasy works, and Ursula von der Leyen (born 1958), the current President of the European Commission.

While the name Ursula has its roots in antiquity, it has endured through various historical periods and cultural contexts, borne by saints, nobles, authors, and political figures alike. Its association with the legend of St. Ursula has contributed to its longevity and appeal within Christian traditions.