The southeastern part of the municipal territory extends into the Kokořínsko – Máchův kraj Protected Landscape Area.

Historians have deduced from the reference to Stará Lípa that Lipý Castle and accompanying settlement were established around that time.

[8] Town walls were constructed at the beginning of the 14th century as well as the parish Church of Saints Paul and Peter, which was destroyed by a fire in 1787.

At the end of the 14th century, the castle was controlled by other members of lords of Lipá family, including a powerful individual named Hynek Hlaváč who was often mentioned in historical accounts, until the beginning of the Hussite Wars, when in May 1426 it was conquered by Hussites led by Jan Roháč of Dubá.

[4] Following the compromise of 1867, the town became part of Austria-Hungary until 1918, and seat of the Böhmisch Leipa district, one of the 94 Bezirkshauptmannschaften in Bohemia.

The modern urban development of the town was influenced by industrial production and uranium mining in the region.

Residential neighbourhoods consisting of large amounts of prefabricated housing were built on the outskirts, while the town centre was preserved and declared as an urban monument zone.

[5] There are several large industrial companies based in Česká Lípa, especially producers of automotive parts.

The major companies based in the industrial zone include Adient Czech Republic, Fehrer Bohemia and Bombardier Inc.[15] The largest employer is the Adient Czech Republic company, which has its headquarters, development centre and one of factories in Česká Lípa.

Regional and intercity transportation is mainly operated by ČSAD Česká Lípa, based at the town bus station from 1986,[18] and provides connections to Mimoň, Nový Bor and Prague, as well as surrounding villages.

The municipal transit runs exclusively within the town while further parts of the county are covered by regional bus services.

Česká Lípa municipal transit has been a member of the IDOL regional integrated transport network since July 2009.

IDOL is based on the integrated tariff and the OpusCard contactless smartcard as a uniform fare carrier.

[19] The large hall on the ground floor is the home of the DUHA Dancing School, and the facility is also used for exhibitions and by other external music groups.

[22] There is a three-floor municipal library on T. G. Masaryk Square, which has three small branches in the town named Špičák, Lada and Holý vrch.

The festival includes an antique fair, concerts, fireworks and theatre performances, and the Town Awards are presented.

[24] The first annual Lípa Musica international festival was held in 2000, primarily featuring classical music.

[27] The town is home to Arsenal Česká Lípa, a football team playing in lower amateur tiers.

TJ Lokomotiva Česká Lípa is a sports club with football, swimming, handball, volleyball, judo, rock climbing, table tennis and gymnastics sections.

[28] Between the villages of Lada and Písečná, there is a sports airport where Aeroclub Česká Lípa operates.

[29] The Augustinian monastery, located on what is today the Svobody Square, was founded by Albrecht von Wallenstein in 1627.

[30] The Church of the Nativity of the Virgin Mary on Palackého Square was built in the Baroque style in 1710–1714, but it has a Gothic core.

The site where a synagogue from the 1860s stood until its destruction by the Nazis in 1938 is marked by a historical memorial stone, installed in 2008.

[4][9] The Červený dům ("Red House") near the Lipý Castle was built as a hunting lodge by Jetřich Jiří Berka of Dubá in 1583.

[4] The Holy Trinity Column in the middle of the T. G. Masaryk Square was created in 1689 after the plague pandemic, which hit the town and surroundings in 1680.

The movement of the hatches suspended on the frames under the bridge automatically regulated the water level and the speed of the current with its pressure.