Tennis was first played in the era of Henry VIII, 1500s. As indoor tennis.
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Tennis goes back to the 16th and 17th centuries in England and France, but the modern game has its origin in The United Kingdom of the 19th century. See link for more details.
Modern tennis was formed 1873 by Walter Wingfield in the United Kingdom. He invented "real tennis" that can be played outdoors on a lawn.