Sebokeng, which literally means "gathering place" in Sesotho, was established by the then apartheid government in 1965 when 18,772 houses were erected.

In September 1984 there were violent clashes between the South African security forces and the residents of Sebokeng, who were boycotting rent and service tariffs.

After South Africa's democratic elections in 1994, the number of middle-class black South Africans or 'black diamonds' in this township has risen dramatically, with Zones such as Zone 6, 10, and 14 consisting of the largest number of black middle-class citizens and homes with a higher property value than traditional Apartheid 'matchbox houses' (four-roomed houses erected during the township's establishment).

Many of the roads of Sebokeng were left unnamed by the Apartheid-era municipality and thus 7-digit house numbers are depended on for navigation through residential areas.

Neighbouring townships include Boiketlong, Evaton, Sharpeville, Tshepiso, Beverley Hills, Orange Farm, Bophelong, Tshirela, Muvango, Kanana, Seroepe Sa Benya, Mkhelele, Small Farms, Tshepong, Boitumelo, Polokong, Golden Gardens, and Lakeside.