The parish church of Radoszyce was probably founded in 1364, in a spot where once a hunting chapel of the Piast dynasty princes stood.

Three years later, the king decided to change Radoszyce's town charter from obsolete Polish regulations to the more modern Magdeburg rights.

In the late Middle Ages, the area of Radoszyce emerged as a center of Polish industry, due to proximity of large forests, which provided timber for fuel.

On 18 November 1794, the last remaining Lithuanian units of the Kościuszko Uprising, which were under the command of Romuald Giedroyć, surrendered to the Russians in Radoszyce.

After the Polish victory in the Austro-Polish War of 1809, it was regained by Poles and included within the short-lived Duchy of Warsaw, and after its dissolution, in 1815–1915, it belonged to the Russian-controlled Congress Poland.

By 1858, the population grew to 1,934, but together with other locations in northern Lesser Poland Radoszyce lost its town charter after the January Uprising (1869).

In the Second Polish Republic, Radoszyce belonged to Kielce Voivodeship, and remained a poor village, whose residents supported themselves by trade, agriculture and services.

In the late autumn of 1939, after the Invasion of Poland, the unit of Major Henryk Dobrzański operated in the area of Radoszyce.