Most knowledge about ancient Japanese sword fighting techniques comes from two anthologies of the eighth century A.D., the "Kojiki" and the "Nihon-shoki." It is in these two anthologies that Choisai Iizasa is mentioned as the ancient founder of Kenjutsu. Some historians, however, doubt the validity of these anthologies and point to Kunimatsu no Mahito, a legendary swordsman of the Kashima no Tachi, "Kashima Shrine" style of the sword. The first accounts of the art of sword fighting, from approximately 400 A.D., refer to a wooden sword called the Bokken. This evolved into the art of Tachikaki (tachi means "sword," and kaki means "the form of drawing"). The sword, with a straight blade, was carried on the warrior's left side in a sling. This allowed the weapon to be drawn in one sweeping motion, often surprising the enemy. During the Nara period (710-794) the art of Tachikaki developed into a form of fencing called Tachiuchi or "match with swords".

It was only during the Ashikaga Shogunate (1333-1568) that Kenjutsu evolved into systematic form of sword fighting techniques. The wars of this period made the art of sword warfare popular once again. In response, the first fencing dojo was created.

Around 1400, Chujo Nagahide, whose family had served the Kamakura Shogunate, established the Chujo-ryu ("Chujo style") school of fencing. After his father's death, Nagahide became an adviser to the third Shogun of the Ashikaga Shogunate, Yoshimitsu Ashikaga (1358-1408), and a master swordfighter of his clan. With the establishment of the first Kenjutsu Ryu ("schools"), two distinct areas of study developed: Sen-ha Kenjutsu, which concentrated on actual battlefield techniques; and Ryu-ha Kenjutsu, which took a more academic approach to swordsmanship. Contemporary Kendo can be traced back to the Ryu-hu Kenjutsu area of study.

Later in the Ashikaga period, Kagehisa Ittosai Ito was renowned as the greatest swordfighter alive. There was not a man who could take a sword up against him and win. His theory that all movement generated from the one source of energy inspired him to take on the middle name Ittosai ("one-sword man"), and establish his own school, the Itto-ryu ("one sword school"). His became a very popular school. Important Japanese historcal figures, including Oda Nobunaga, Tokugawa Hidetada, and Tokugawa Iemitsu, studied in this school.

Bokuden Tsukahara (1490-1572), from the village of Tsukahara in Ibaraki, learned Kenjutsu from his father, a Shinto priest. At the age of seventeen, in his first swordfight, he killed his opponent. Within a few years he was considered one of the best swordsmen of the time. Legend tells that he survived thirty-seven challenges without being defeated or even wounded. As he grew older he retreated to the mountains where it is said that many Samurai sought him out for advice and knowledge. He lived to be eighty-three years old, having been injured only six times in battle, each time by an arrowhead.

Miyamoto Musashi, an early seventeenth century swordsman, is often considered to be Japan’s greatest master of Kenjutsu. In his later years he retired to the mountains and wrote a book, "Go Rin No Sho" ("The Book of Five Rings"), describing his philosophy and tactics. The book is still popular in modern Japan, both among martial artists and industrialists, who have converted his sword tactics into business strategies.

The Tokugawa Shogunate (1603-1868) was a period of relative peace in Japan. Europeans had recently introduced muskets into Japan. At this time only Samurai and Police Officers were permitted to carry swords. The militaristic aspects of Kenjutsu were no longer emphasized, while the most significant developments in what would later become Kendo were made.

Nakanishi Chuta, who lived in the eighteenth century, made some of the greatest contributions to Kenjutsu weapons and armor. As a student he was considered a far better swordsman than his teacher, Chuichi Ono IV. In respect, he left the dojo and created his own school, Nakanishi Itto-ryu. At his new school he developed a fencing glove, or Kote, and a new type of sword made out of bamboo, called the Shinai. This new equipment made training considerably easier and less dangerous. Now, in training a student could use a blade, or Katana. In a kata, the student could use a wooden sword, Bokken, or the new Shinai as a simulation sword.

After more experience as a teacher in his fencing dojo, Nakanishi developed a new form of body armor, called a Do. Made out of bamboo, this protection permitted the fencers to use full force during training without the fear of injury. By adding a handle guard, or Tsuba, and regulating the weight and length of the Shinai, he developed the perfect training weapon, the Fukuro Shinai.

An early attempt to convert Kenjutsu into a spiritual discipline was made by Chiba Shusaku (1794-1855). Chiba also initiated the use of a straight, rather than curved, Bokken. He proved his technique, called Kumi-Tachi Kenjutsu, against male swordsmen using metal blades and female masters of Naginata-do, the art of using the large bladed spear, the Halberd.

Modern Kendo can trace its origin to Sakakibara Kenkichi, who developed Kenjutsu into a sport to train children both physically and spiritually. Six years after Sakakibara's death, Abe Tate coined the term "Kendo." The first Kendo dojo was established in 1909, and the Japanese Kendo Federation was founded to establish precise rules for the emerging martial sport.

Kendo is still very popular in Japan, and has made a lot of progress in the West. In many Japanese schools Kendo is a part of the regular curriculum. Many leading politicians and industrialists are acknowledged Kendo Masters, including the President of the Mitsubishi Corporation.