15 March 1983: it was originally known as the E957, and replaced part of the E19 from the old E-road network, which existed from 1950 to 1983. On 12 September 1986, the E957 adopted its current number.

Before the arrival of the A2 motorway (Egnatia Odos) in Ioannina, the northern end of the E951 used to be at the western shore of Lake Pamvotida, where the E90 and E92