Written by both Missy Elliott and Timbaland, with the latter producing the song, it focuses on a guy who receives a scolding from the female narrator (Aaliyah) for hitting on her when he already has a girlfriend.

Upon its release, the song received generally positive reviews from critics, with many praising Aaliyah's vocal performance and lyrical content.

An accompanying music video for "If Your Girl Only Knew" was directed by Joseph Khan, and it depicts Aaliyah in a dark club setting.

[2] "If Your Girl Only Knew" was described by Atlantic Records product development director Eddie Santiago as "a very funky mid-tempo track with lots of heavy keyboard and organ work along with live drums and a thumping bass line".

[11] Its production features a "slap bass melody over boom bap drums accentuated by hand claps over the snares and clattering cymbals and hi hats".

[7][9] On "If Your Girl Only Knew", Aaliyah "reveals a more assured and fully realized vocal style, as well as a more flexible note range".

[16] According to the Atlantic Records vice president Manny Bella, "Every component of the project – including the video, a television campaign, and other promotions – was in place before the single went to radio".

[20] In September 1996, Aaliyah made an appearance at MTV's sixth annual Rock N' Jock event, which aired on October 26.

[26][27] Oliver VanDervoort from AXS felt that "If Your Girl Only Knew" was one of Aaliyah's most sassiest songs, due to its lyrical content.

[28] In his review of the song, Larry Flick from Billboard described it as a "wickedly infectious jeep chugger" and felt that Aaliyah's break from public view in between albums was "well spent".

[4] Another writer from Entertertainment Weekly Brandon Caldwell, said "On "If Your Girl Only Knew," the singer brings a level of delight and tension; here, infidelity comes at a far greater warning than any heartbroken ballad ever could.

"[31] Dave Sholin from the Gavin Report felt there's a lot of interest in any new Aaliyah project, since her fanbase has grown quickly, and that "This first single from her forthcoming album features the signature sound of a young super talent".

[8] Simon Price from Melody Maker wrote, "The coolest bit of her spookily mournful newie, when it all breaks down to voice, 808 bass and handclaps, is so glorious she chucks it in twice.

[14] In a retrospective review by Billboard, the publication praised Aaliyah's vocal delivery stating, "Singing in a guttural register and sounding more self-assured than ever, Aaliyah's verses should make the grown man at the other end cower, but a flirtatious streak runs through her teasing when she sings lines like If your girl only knew/ That I would want to kick it with you.

[40] According to Datu Faison from Billboard, "Key factors leading to Aaliyah's big 5–1 leap include a 20% unit increase at R&B core stores, which pushes an identical 5–1 jump on hot R&B singles sales.

[2] The video featured cameos from celebrities such as Missy Elliott, Timbaland, 702, Lil' Kim and Aaliyah's brother Rashad Haughton.

[50] The music video for "If Your Girl Only Knew" made its television debut on BET for the week ending July 21, 1996 and August 3 on The Box.

[56][57] In 2016, Swedish singer-songwriter Erik Hassle paid tribute to Aaliyah by releasing his own version of the song, entitled "If Your Man Only Knew".

[59] The University of Miami football team recorded a sexually explicit rap song, "7th Floor Crew", set to the instrumental of "If Your Girl Only Knew", which leaked in 2005 and featured future NFL players Greg Olsen and Jon Beason.