Library services were first offered in Rapid City beginning in 1879, when a volunteer reading room was organized by community women with $45, donated books and periodicals, and a free subscription to the Minneapolis Journal.
In 2002, the library added an expansion to house the juvenile and young adult collections, as well as to provide a service lobby, drive-through window and covered parking space.
In 2008, the main library was named by Nancy Pearl in USA Today as one of "10 Great Places to Find a Nook and Read a Book".
The Historical Collections Room contains resources and archives related to Rapid City and the Black Hills area.
Local history resources also include online digital collections, such as the Black Hills Knowledge Network of local information; the Rapid City Oral History Project; and thousands of images and documents related to Rapid City and the Black Hills.