The club was formed in 1923 during an assembly in a restaurant in Kragujevac under the name Mladi Radnik (Young Labourer).

On 16 August 1925, they played host to SK Radnički Beograd in a match where the visitors eventually won 5–0.

Radnički was in the prewar years of the World War II host of teams like Olympique Marseille, Ferencváros and Honvéd Budapest, Rapid Wien and some others.

The club competed in the highest league of the Kragujevac Football Subassociation which gave access to the qualifiers for the Yugoslav Championship.

The local population was suppressed and many Serbian civilians, as well as Roma and Jews, were murdered or have perished in concentration camps.

In 1946, Radnički played against Red Star Belgrade for membership of the newly created Yugoslav First League.

In 1969, Radnički was promoted for the first time to the Yugoslav First League after beating Sutjeska Nikšić and FK Crvenka in the play-offs.

At the end of the domestic championship, Radnički was 15th in their first top league season and the survival was ensured on the last round with a victory over Vojvodina by 1–0.

However, 2010 marked a turning point for the club, which achieved the promotion, and returning to the top flight, the Serbian SuperLiga, in 2011, where it remained until nowadays.

Today, the Kraguj occupies a place of honor on the city's coat of arms and also on the crest of the club.

It is named in memory of Danilo Stojanović, known as Čika Dača, who is considered to be a pioneer of football in Serbia.

Then will follow the construction of the east stand, so that it fulfills the UEFA standards for European matches.

The real spectator boom began in the late sixties, were Radnički was promoted for the first time to the top level.

Serbian SuperLiga top scorer Note: Flags indicate national team as defined under FIFA eligibility rules; some limited exceptions apply.

Note: Flags indicate national team as defined under FIFA eligibility rules; some limited exceptions apply.