Settled mainly by settlers from the upland south (Kentucky, Virginia, and Tennessee), the township was named after a natural karst formation located in today's Rock Bridge State Park.

Rock Bridge Township covers an area between the city of Columbia and the Missouri River.

The Little Boone Femme and Roche Perche Creeks empty into the Missouri River at the southeastern edge of the township.

Providence River access, Cooper's Landing, Eagle Bluffs, and Rock Bridge State Park are all within the township.

The area contains the most extensive karst features north of the Missouri River.