Climatic variations at decadal scales such as phases of accelerated warming or weak monsoons have profound effects on society and economy. Studying these variations requires insights from the past. However, most current reconstructions provide either time series or fields of regional surface climate, which limit our understanding of the underlying dynamics. Here, we present the first monthly paleo-reanalysis covering the period 1600 to 2005. Over land, instrumental temperature and surface pressure observations, temperature indices derived from historical documents and climate sensitive tree-ring measurements were assimilated into an atmospheric general circulation model ensemble using a Kalman filtering technique. This data set combines the advantage of traditional reconstruction methods of being as close as possible to observations with the advantage of climate models of being physically consistent and having 3-dimensional information about the state of the atmosphere for various variables and at all points in time. In contrast to most statistical reconstructions, centennial variability stems from the climate model and its forcings, no stationarity assumptions are made and error estimates are provided.