[2] Raspenava is located about 15 kilometres (9 mi) north of Liberec, in a salient region of Frýdlant Hook.

The southern part of the municipal territory extends into the Jizera Mountains and includes the highest point of Raspenava, located below the top of the Poledník mountain at 858 m (2,815 ft) above sea level.

Two thirds of the territory are situated in the Jizerské hory Protected Landscape Area.

Half of the Czech part of the UNESCO World Heritage Site named Ancient and Primeval Beech Forests of the Carpathians and Other Regions of Europe is situated in the southernmost part of the territory of Raspenava.

Raspenava was originally an agricultural village, but its character began to change in the 16th century.