In 1613 it was granted town rights, and quickly developed, due to the location along the “oxen road”, from Red Ruthenia to Greater Poland and Silesia.

Lipsko was a private town, administratively located in the Radom County in the Sandomierz Voivodeship in the Lesser Poland Province of the Kingdom of Poland,[1] In the 16th-18th centuries Lipsko belonged to various noble families - the Wolskis, Gostomskis, Oleśnickis, Denhoffs, Sanguszkos, and Kochanowskis.

Following the joint German-Soviet invasion of Poland, which started World War II in September 1939, the town was occupied by Germany.

The German occupiers committed mass murders and brutalized both the Christian Polish and Jewish population.

Some Jews were deported to forced labour camps, but in mid October 1942, the rest of the Jewish population were rounded up by German police and Ukrainian auxiliary guards.