Ciepielów was founded by the Kazanowski family on the old trade route linking Sandomierz with Warsaw, at the ford at Iłżanka River, as the central point of their domain.

Rotmistrz Marcin Kazanowski in 1548 was awarded by King Sigismund II Augustus the right to grant the village with a town charter.

On September 8, 1939, during the invasion of Poland, the village of Dąbrowa (near Ciepielów) was the site of a mass murder of over 250 Polish prisoners of war by German Wehrmacht troops.

[2] In December 1941, a minor ghetto was established in Ciepielów by German authorities; in October 1942 all of them (approximately 600) of them were sent to gas chambers of Treblinka extermination camp.

On December 6, 1942, in nearby villages Stary Ciepielów and Rekówka thirty-one Poles, among them women and children, were murdered for helping Jews.