The first written record mentioning the Church of Saint Nicolaus which was to become the founding element of a larger settlement dates back to 1299.

The legendary Slovak "Robin Hood" Juraj Jánošík was sentenced and executed here in 1713 by being hung by the ribcage on a hook.

Before the establishment of independent Czechoslovakia in 1918, Liptovský Mikuláš was part of Liptó County within the Kingdom of Hungary.

Folk architecture can also be seen nearby in Vlkolínec near Ružomberok, or Pribylina, a few kilometers west of the town, and for recreation, the lake called Liptovská Mara is available.

Many modern lifts and recent additions made to its infrastructure have meant it has become a popular ski center for many western tourists over the last few years.

After World War II, the ethnic minorities were expelled leaving a majority Slovak population.

Ice hockey club HK 1932 Liptovský Mikuláš represents the city in Tipos extraliga.

Petra Vlhová, born and raised in the city, won the alpine skiing slalom gold medal at the 2022 Winter Olympics.

[7] Liptovský Mikuláš hosted the 2012 FAI World Championship for Space Models, taking place from 31 August to 9 September.