The village is mentioned in the Domesday Book as Rilestun as belonging to Dolgfinn, but with no population or taxable land (waste).

Besides the Anglican church, the Quakers had some land along what is known as Chapel Lane, upon which they had a limited amount of burial space.

[15] The old trackway in the village came down form the moor on the eastern side, and headed out towards Cracoe by the manor house and around the church, on a path which is marked as Chapel Lane on Ordnance Survey mapping.

[17] Rylstone is served by the number 72 bus route between Skipton and Grassington, with seven services in each direction through the week.

[25] The Craven District was abolished in 2023, and the area became part of North Yorkshire Council for local government.