The origins of the jogo do pau are medieval civil techniques of combat, used in times of war by foot soldiers who were often poor peasants who could not afford a better weapon.

[4] This martial art developed not in the urban areas more open to foreign influences, but in Galiza and the most isolated mountain regions of continental Portugal.

During the 19th century, jogo do pau was brought to Lisboa by northern masters, resulting in an amalgamation with the technique of the Gameirosabre, growing into a sports competition, removed from actual combat.

In the 20th century, the practice of jogo do pau suffered a quick decline due to the migrations from rural areas to the cities and the greater ease in access to firearms.

The driving force of this revival was Pedro Ferreira, followed by his student Nuno Curvello Russo, who dedicated his life's ambition to jogo do pau, frequently visiting the North of Portugal, getting acquainted with surviving variants there, especially with the school of Cabeceiras de Basto.