When he was fourteen, HC Sparta Praha of the Czech Extraliga offered him a chance on their junior team and he accepted.

[citation needed] From 1994 to 2007, Hlinka mostly played for HC Sparta Praha in the Extraliga, scoring 110 goals and winning the Czech Championship four times (2000, 2002, 2006 and 2007).

In 2008–09, his first season with Linköpings, Jaroslav led the team in scoring with 55 points finishing with the most assists in the Elitserien.

After starting the 2009–10 season on loan to hometown club Sparta Praha, Hlinka returned to Linköpings to score 50 points in 41 games before losing to Djurgårdens IF in the playoff semi-finals.

[5] Following the 2018–19 season, Hlinka ended his 25 year professional career, finishing as HC Sparta Praha's All-time leading scorer.