Pentjak Silat probably originated on the island of Sumatra (Indonesia's eastern island) over one thousand years ago; there are many different legends accounting for its origins. Many historians believe that this Martial Art was founded by Mahayana Buddhist Monks during the Srivijaya Empire (7-13th Centuries A.D.). The southern seaport of Palembang was the island's gateway to mainland Asia where Buddhist Monks such as the Bodhidharma were developing other Martial Arts based upon the movements and fighting techniques of animals. Tales of missionary voyages from the mainland to Sumatra made by the Buddhists are well documented, however, it is not known if the secrets of their Martial Arts were ever passed on to the island's inhabitants.

One popular legend attributes Pentjak Silat's creation to a peasant woman in West Sumatra. One day, as she went to fetch water from a well, she came across a fight between a wounded bird and a snake. Since the bird was unable to fly, it had to avoid the snake's attacks. After some time the snake tired and the bird, taking advantage of its foe's weakness, defeated it. The woman rushed home, where her husband was furious that she was so late. He began to hit her, but she, remembering the movements of the bird, was able to fend off his attacks. She eventually defeated her husband, but later taught him the movements she had learned earlier in the day.

Although this story is only a legend, it does provide some insight into Pentjak Silat. For one, before the rise of Islam, women played an important role in this Martial Art; in fact, some great masters were women. The story also hints to the contributions made by the Minangkabau, a matriarchal people in West Sumatra, to the development of Pentjak Silat. It is believed that they developed a Martial Art of their own, which both influenced and incorporated aspects of the Martial Art that was then developing in the neighboring Srivijaya Empire. This new art spread to the island of Java, where it developed rapidly under the Majapahit Empire (13-16th Centuries A.D.).

In the Fourteenth Century, Huang Tuah, later considered the most important guru or pendekar (teacher) of Pentjak Silat, traveled throughout Indonesia and the Malacca (Malaysian) Peninsula, learning various forms of Pentjak Silat from many of the great masters of that period. Tuah then synthesized the offensive and defensive open-handed and weapon techniques into a practical fighting art. This art soon reached what it is today. In Malaysia, Pentjak Silat developed into Bersilat ("the act of fighting"). Which is now that country's national Martial Art.

Under Dutch Colonial rule in Indonesia, Pentjak Silat was outlawed. Nevertheless, many people continued to practice the art in underground resistance movements opposed to Colonialism. During the Japanese occupation of the islands during World War II, Pentjak Silat's popularity grew. Soon after the war, Indonesia gained its independence and many Martial Arts organizations attempted to unify the various forms of Pentjak Silat into a single style. One such organization, the Ikatan Pentjak Silat Indonesia, founded in 1947, has implemented a one-year compulsory course for both boys and girls in the country's Muslim school system. Whereas in the past, Pentjak Silat always stressed its combative nature, some contemporary styles are attempting to impose rules and regulations in order to develop Pentjak Silat into a competitive sport.