Originally previewed as the Acura RD-X concept car, the production RDX had its debut at the 2006 New York Auto Show and went on sale on 11 August 2006.

A facelifted 2010 model went on sale in August 2009, which featured the addition of Acura's "power plenum" grille and a front-wheel drive option.

The engine also features a top-mounted intercooler which receives air from the grille, channeled by ducting under the hood.

The first-generation RDX featured a version of Acura's Super Handling All-Wheel Drive (SH-AWD) and a five-speed automatic transmission with Acura's SportShift sequential shift capability, activated by paddles mounted on the steering wheel for 2007-2009 models (additionally FWD was offered in some trims for 2010-2012 models).

The paddles can be used in Drive (D) to make a gear change with the transmission returning to automatic mode as soon as the vehicle resumes a steady-cruise state.

[3] The vehicle's interior includes standard leather seating, a moonroof, automatic climate control, and all the expected power features.

This package included Acura's navigation system, a backup camera, XM Nav-Traffic real-time traffic monitoring, and Zagat restaurant reviews.

The first-generation RDX was the second Acura vehicle to feature the Advanced Compatibility Engineering (ACE) body structure, which is designed to absorb energy from a collision.

[4] The second generation RDX was revealed during January 2012 at the North American International Auto Show going on sale in April.

[9] The updated RDX uses a slightly more powerful revised 3.5-liter SOHC V6 that produces 279 horsepower (208 kW) and 252 lb⋅ft (342 N⋅m) of torque.

[11] Acura debuted the 2019 RDX Prototype, on January 15, 2018, at the North American International Auto Show.

[19] An A-Spec trim was offered which added aggressive body modifications, metal paddle shifters, larger wheels, and optional red leather interior with black alcantara inserts.

In 2020, fthe 2021 model year, Acura included a new limited-edition trim level, called the PMC Edition.

The 2019 RDX is powered by a direct-injected turbo 2.0-liter engine used in the Honda Accord, producing 272 hp (203 kW; 276 PS) and 280 lb⋅ft (380 N⋅m) of torque.

According to Honda, this allows the RDX to take the turbocharged engine to its maximum capabilities during low-end torque.