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The name Ainslie most likely derives from Annesley in Nottinghamshire, England. William de Haneslej who witnessed a charter by Walter, Bishop of Glasgow (1208-18) is probably the same William de Anslee who was Canon of Glasgow in 1220. Magister Thomas de Aneslei was one of a number appointed to settle a dispute between the monks of Kelso and the Hishop of Glasgow in 1221, and Sir Aymer de Aynesley was one of the knights appointed to settle the law of the marches in 1249.

In 1377, Robert II granted a charter of the lands of Dolfynston in the sheriffdom of Roxburgh to William de Aynysley which had been forfeited by his father, John de Aynysley. In 1493 Ralph Aynsle produced a remission for being treasonably associated with Alexander, formerly Duke of Rothesay.

John Ainlsie, an eminent geographer and land surveyor was a descendant of the old family.
Robert Ainlsie was a friend and correspondent of Robert Burns.

The name was at one time common in and around Jedburgh.