It is now commonly accepted that the various forms of Jujitsu evolved from ancient Japanese fighting techniques. These were refined during the medieval Kamakura period (1185-1333 a.d.) which also saw the emergence of rival often feuding, shogunates. The techniques of Jujitsu were studied by the shoguns and their retainers for use in battle. At that time, however, they were considered complementary to "more important" fighting techniques involving swords, spears, and other weapons. Although the original Jujitsu techniques used smaller weapons such as daggers, they were apparently developed for use by soldiers who had lost their main weapons in the heat of the battle. Open-handed techniques were needed by unarmed soldiers to either take a weapon from an opponent or simply to survive.

It is likely that these techniques were first taught in the Daito-ryu, a twelfth-century school for Samurai. At the Daito-ryu, however, the emphasis of training was on swordsmanship. In 1532 Prince Takenouchi Hisamori established another school, the Kogusoku. According to one legend, the prince learned the basis of his new fighting technique from spirits while he was asleep. According to another legend, he learned five blocking techniques and the benefits of short weapons over long weapons from an ascetic hermit. Originally, the school taught soldiers how to effectively use daggers and staffs against opponents in armor, but later taught open-handed fighting techniques as well. These were called Jujitsu. The Kogusoku later came to incorporate other techniques as well. One of them, hojo-jutsu, or “ways to effectively tie up an enemy”, is still studied today by members of the Japanese Police Force.

At the same time, other schools for the martial arts began to develop in Japan. Each had slightly different emphasis. The Yagyu-ryu was the first to employ grappling techniques alongside swordsmanship; it is said that the founder of the Yagyu-ryu learned these techniques from a visiting Chinese dignitary. The Kito-ryu, another such school, was the first to absorb Chinese fighting techniques and make them an integral part of Jujitsu.

By the time of the Tokugawa (Edo) period (1615-1868), several hundred fighting arts are known to have emerged in Japan. These included Yawara, Shubaku, Kempo, Hakuda, Torite, Wajutsu, Taijutsu, Koshi-no-mawari, and Hobaku. As these forms came into contact with one another, they began to share ideas and borrow techniques. Other techniques were kept as closely-guarded secrets, although it was not uncommon for one school to send spies to a rival school. It was at this time, too, that Atemi, or body blows, were first studied in Japan. Students of Atemi used ideas from contemporary anatomy and acupuncture to determine which points in the body would be most sensitive to pain. As the different schools began to merge with one another, they also came to incorporate the principles of Atemi, and the fighting technique that evolved became the basis of what is now known as Jujitsu. It was practiced by the Samurai and Ninjas alike.

The Golden Age of Jujitsu lasted from the late seventeenth century to the mid-nineteenth century. In that time over seven hundred different styles are known to have developed. Since this was a relatively peaceful time, there was little opportunity to make use of these techniques in battle. As the value of Jujitsu as a means of fighting diminished it became more sport-like. Traces of its aggressive style are still found today; Jujitsu is the Japanese martial art best geared to actual street fighting situations. Some of its practitioners became outlaws, while others, who were unwilling to have their techniques shared with possible opponents, swore their students to secrecy.

Under the Emperor Meiji (1868-1912) the Samurai were forbidden to carry their swords. Jujitsu now became a violent street sport that was often over-glorified in public shows. In 1882 one master of Jujitsu, Jigoro Kano, determined that it must be developed from a jutsu (art or skill) into a Do (philosophical "Way") and created Kodokan Judo. A similar approach was taken by Ueshiba Morihei, the founder of Aikido, some years later.

Many now consider modern Jujitsu to be a combination of Judo, Aikido, and Karate while still retaining its aggressive style. It is now becoming as popular as Aikido or Judo. With the creation of Pride and UFC fights (Ultimate Fighting Championship), Jujitsu competitions are being held all over the world.