The oldest records date back to 1241 in the Danish Census Book, when it was said that it was a small village with 8 acres of cultivated fields. By the end of the 13th century, the village centre was firmly established. At around the same time, a Cistercian monastery was built.
Rapla's ambitious period of fast growth began only in the late 19th century. In 1866, a pharmacy was built, in 1868 a school, and in 1888 a hospital. In 1898, a brick factory was opened, and in 1900, a railway line was built between Rapla and Viljandi. The old stone church was demolished in the late 19th century and a new one was built in a Romanesque style, one of the purest examples of this style in all of Estonia.[2]
In 1913, Rapla consisted of around 20 stone and 60 wooden houses. During this time period, a number of social societies were established, such as the Volunteer Fire Company, the Song and Music Society, the Society of Agriculture, a Mutual Fire Insurance Company, a Consumer Association, and the Deposit Insurance Fund.
It has a railway station on the Tallinn–Viljandi railway line operated by Elron. In 1931, a narrow gauge railway from Rapla to Virtsu opened and remained in use until 1968.