The oldest records date back to 1241 in the Danish Census Book, when it was said that it was a small village with 8 acres of cultivated fields.

Rapla's ambitious period of fast growth began only in the late 19th century.

In 1898, a brick factory was opened, and in 1900, a railway line was built between Rapla and Viljandi.

During this time period, a number of social societies were established, such as the Volunteer Fire Company, the Song and Music Society, the Society of Agriculture, a Mutual Fire Insurance Company, a Consumer Association, and the Deposit Insurance Fund.

In 1931, a narrow gauge railway from Rapla to Virtsu opened and remained in use until 1968.