Founded in 1937, the club was accepted into the Belgrade Football Subassociation in 1940.

[1] They were reestablished after World War II in 1947 as Motor, before being renamed to Rakovica in 1948.

[1] In 1954, the club became known as IM Rakovica (IMR), backed by the manufacturing factory of the same name.

[1] With the beginning of the new millennium, the club competed in the 2000–01 Second League of FR Yugoslavia, finishing bottom of the table in Group North.

[2] They subsequently suffered consecutive relegations,[3][4] finding themselves in the fifth tier by the 2003–04 season.