The stadium is named in honor of Tuanku Abdul Rahman ibni Almarhum Tuanku Muhammad, the eighth Yamtuan Besar of Seri Menanti, the second Yang Di-Pertuan Besar of modern-day Negeri Sembilan, and the first Yang di-Pertuan Agong of Malaysia.

During the third round of the 2018 FIFA World Cup qualification, Syria national football team played two of its home matches here due to the Syrian Civil War.

The military camp was built during the height of the Malayan Emergency to provide air cover for the jungle operation.

The stadium finally opened on 11 April 1992, with a final match of the 1992 Piala Emas Raja-Raja between the Negeri Sembilan Malays Football Association and Terengganu Malays Football Association, which the home side won 2–1 with Lim Teong Kim and Yeo Swee Hock putting their names on the scoresheet.

There are many parking lots at the stadium, which are usually used for the farmer's market on Sunday morning and the Ramadhan Bazaar.