Dalem Joyokusuman is estimated to have been built around the year 1873. The existence of the building is supported by a 1873 map that had already plotted the location of Dalem Joyokusuman. However, the building has undergone changes or development, as evidenced by an inscription (prasasti) on the carved door of the main hall (dalem ageng). The inscription is dated 1849 in the Javanese calendar, which corresponds to 1916 AD. Additionally, there is an inscription on the western wall of the pavilion courtyard indicating that the pavilion was constructed in 1939 AD.

Originally, Dalem Joyokusuman was owned by BKPH Suryobroto, one of the sons of Pakubuwono X. After BKPH Suryobroto, the building became the property of BKPH Joyokusuman, and thus the house and its surrounding area came to be known by the name Joyokusuman. During BKPH Joyokusuman’s ownership, the building evolved with Indies Art Deco style in 1939, as stated on the inscription found on the eastern wall of the building.

In 1965, Dalem Joyokusuman was sold to R. Ng. Malkan Sangidoe, and in 1970, it was occupied by his son Endar. During Endar's ownership, the house was used as a residence, a café, and an art studio. During this period, the building underwent many changes due to spatial needs for the café and studio.

In 2004, ownership shifted to Widjanarko Puspoyo, the former Head of the Indonesian Logistics Agency (BULOG). Under Widjanarko's ownership, efforts were made to restore the building. The backyard was developed with bungalows intended as a guest house, although the project remained unfinished. Due to Widjanarko’s involvement in a corruption case, Dalem Joyokusuman was handed over to the Government of Indonesia and is currently in the process of asset transfer to the Surakarta City Government.