First mentioned in 1288, it received city rights in 1321. From 1562 the city hosted the Rawa Treasury for the Polish-Lithuanian army. During an excavation in 1948, a horde dating from 600 BCE was found containing 4 underground rooms with barrels of gold and silver. A smaller treasure was found containing mainly bronze artifacts from the Trzciniec culture, dating from around 1700 BCE.
On 15 May 1958, a powerful tornado hit Rawa and damaged most of the buildings in the city.