Vanrhynsdorp’s mountains were initially home to the San people and many fine examples of the art of these Late Stone Age hunter-gatherers exist in several rock shelters.
The Knersvlakte area around Vanrhynsdorp was first explored by Danish traveller Pieter van Meerhoff in 1661. It was then founded as Trutro (or Troe-Troe) and the Troe-Troe mission era included the setting up of mission stations that evolved into towns like Leliefontein and Steinkopf. Hendrik van Rhijn was the man behind these developments.
The mission was completed in 1751, which is still evident in the Troe-Troe homestead that stands in the town. In 1874, the Troe-Troe Mission Congregation was established and the Troe-Troe homestead was the meeting place for the Dutch Reformed Church’s congregation.
In 1881 the town was renamed Vanrhynsdorp to honour Van Rhijn who made valuable contributions to the town as a church leader and community member. During the 20th century, Vanrhynsdorp was home to the Catholic Mission of the Little Flower.