The estimation of the seismological parameters of historical earthquakes is a key step when performing seismic hazard assessment in moderate seismicity regions as France.We propose an original method to assess magnitude and depth of historical earthquakes using intensity data points. A flowchart based on an exploration tree (ET) approach allows to apply a consistent methodology to all the different configurations of the earthquake macroseismic field and to explore the inherent uncertainties. The method is applied to French test case historical earthquakes, using the SisFrance (BRGM, IRSN, EDF) macroseismic database and the intensity prediction equations (IPEs) calibrated in the companion paper (Baumont et al. Bull Earthq Eng, 2017). A weighted least square scheme allowing for the joint inversion of magnitude and depth is applied to earthquakes that exhibit a decay of intensity with distance. Two cases are distinguished: (1) a ''Complete ET'' is applied to earthquakes located within the metropolitan territory, while (2) a ''Simplified ET'' is applied to both, offshore and cross border events, lacking information at short distances but disposing of reliable data at large ones. Finally, a prioridepth-based magnitude computation is applied to ancient or poorly documented events, only described by single/sporadic intensity data or few macroseismic testimonies. Specific processing of ''felt'' testimonies allows exploiting this complementary information for poorly described earthquakes. Uncertainties associated to magnitude and depth estimates result from both, full propagation of uncertainties related to the original macroseismic information and the epistemic uncertainty related to the IPEs selection procedure.