In accordance with the licenses issued in 1934,  Bayerische Flugzeugwerke company had developed a twin-engine multi-role fighter Bf.110. . While it was tested, Luftwaffe requirements have changed - now required to create a more specialized high-speed bomber , which could be used for reconnaissance . The success that accompanied the early stages of testing a heavy fighter Bf.110 allowed the company Bayerische Flugzeugwerke to prepare technical documentation for a reconnaissance version , designated as Bf.161. This airplane was already taking into account the data obtained during tests  of the Bf 110 and was generally similar to its prototype,  had received virtually no change from the wing of the  Bf.110B, but the center and aft fuselage and propeller-engine assembly  were borrowed from the bomber Bf.162, the construction of which was conducted in parallel with it. Instead, the bomb bay was used for a  camera or an extra fuel tank . The crew of the aircraft consisted of 2-3 men..
The first prototype  Bf.161V- 1 (D-AABA) took to the air in the spring of 1938 - a year after the start of the test of bomber Bf.162, whose program had a higher priority. The tests did not reveal any specific advantages over already existing Bf.110C, capable of performing the same function without significant changes or disruptions in mass production . Built in the same year, a prototype Bf.161V- 2 with a modified forward fuselage , also found no support .
In 1939, the first prototype was sent to a testing center in Rechlin . The second prototype, first used in Augsburg , and later it moved to Peenemunde - West , where the tests were done with  interceptor Me- 163A . The Bf 161 V2 was  later used in the development of "barbettes" (small side turrets) mounted on the Me 210.

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