Litchfield was incorporated in 1795 and was originally known as Smithtown Plantation. It is found in the 1790 census as Smithtown Plantation, Lincoln County, Maine.

According to the United States Census Bureau, the town has a total area of 39.66 square miles (102.72 km²), of which, 37.44 square miles (96.97 km²) of it is land and 2.22 square miles (5.75 km²) is water.

As of the census of 2010, there were 3,624 people, 1,441 households, and 1,036 families residing in the town. The population density was 96.8 inhabitants per square mile (37.4/km²). There were 1,861 housing units at an average density of 49.7 per square mile (19.2/km²). The racial makeup of the town was 97.0% White, 0.8% African American, 0.3% Native American, 0.2% Asian, 0.1% from other races, and 1.4% from two or more races. Hispanic or Latino of any race were 0.9% of the population.

There were 1,441 households of which 30.4% had children under the age of 18 living with them, 56.9% were married couples living together, 9.3% had a female householder with no husband present, 5.7% had a male householder with no wife present, and 28.1% were non-families. 20.3% of all households were made up of individuals and 6.3% had someone living alone who was 65 years of age or older. The average household size was 2.50 and the average family size was 2.85.

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