The club was formed in 1945 immediately after World War II. They made their Yugoslav Second League debut in the 1969–70 season. The club spent the following 12 consecutive seasons in the second tier of Yugoslav football, before being relegated in 1981. After only one year, they won the promotion back, spending the next six seasons in the Second League (1982–1988), when the competition was reorganized.
The club achieved one of the biggest results in its history by reaching the quarter-finals of the 2004–05 Serbia and Montenegro Cup, when they were eliminated by Rad after losing 0–1 at home. At the end of the season, they also won the promotion to the Serbian First League after finishing first in the Serbian League East. The club spent the following three seasons in the second tier of Serbian football, before being relegated back to the Serbian League East in 2008. In the meantime, they repeated the success in the national cup by reaching the quarter-finals of the 2006–07 Serbian Cup, when they were eliminated by Vojvodina after losing 1–2 at home.
There is a large number of coaches throughout the history of Radnički Pirot, but the ones that left an strongest impact in the club were Tomislav Kaloperović, Ostoja Simić, Neško Milovanović, Stole Mitić, Žika Stanković, Aleksandar Petković, Dimitar Jovanovski, Ilija Dimovski, Slobodan Ostojić, Mileta Tomić, Ljubomir Veljković, Ivan Jovanović, Ljuborad Stevanović, Čeda Matić, among others.