[1] Kenjutsu originated with the samurai class of feudal Japan,[2] and the word itself means "methods, techniques, and the art of the Japanese sword".

Although kata training has always been the mainstay, in later periods, schools incorporated sparring under a variety of conditions, from using solid wooden bokutō to the use of a bamboo sword (shinai) and armor (bōgu).

[3]: XII, XIII  In modern times sparring in Japanese martial art is more strongly associated with kendo and is mainly practiced by students or the police force.

It is thought likely that the first iron swords were manufactured in Japan in the fourth century, based on technology imported from China via the Korean peninsula.

[3]: XIII Beginning in 1868, the Meiji Restoration led to the breakup of the military class and the modernization of Japan along the lines of western industrial nations.

[3]: XIII, XIV  This decline continued for approximately 20 years, until rising national confidence led to an increase of the uptake of traditional sword arts again, particularly in the military and the police.

Work on standardizing kenjutsu kata continued for years, with several groups involved[7]: 11, 12  until in 1912 an edict was released by the Dai Nippon Butoku Kai.

Some schools practice with fukuro shinai (a bamboo sword covered with leather or cloth) under circumstances where the student lacks the ability to safely control a bokutō at full speed or as a general safety precaution.

A distinguishing feature of many kenjutsu syllabi is the use of a paired katana or daitō and wakizashi or shōtō, commonly referred to as nitōjutsu (二刀術, two sword methods).