Known in the 8th century as Rathaldovilare, the town passed from the Bishops of Basel to the Lords of Rappoltstein, who were among the most famous nobles in Alsace.

The Lord of Rappoltstein was the King or Protector of the wandering minstrels of the land, who purchased his protection by paying him a tax.

When the family became extinct in 1673, this office of "King of the Pipers" (Pfeiferkönig) passed to the Counts Palatine of Zweibrücken-Birkenfeld.

The minstrels had a pilgrimage chapel near Rappoltsweiler, dedicated to their patron saint, Maria von Dusenbach, and here they held an annual feast on 8 September.

Near the town are the ruins of three famous castles, Saint-Ulrich, Girsberg and Haut-Ribeaupierre, which formerly belonged to the lords of Ribeaupierre (or Rappoltstein).