The town is firstly mentioned in the 14th-century inscriptions referring to a certain front yard of the Mileševa monastery. Ottomans took over the whole region in the 15th century and Austro-Hungarians 4 centuries later.
Prijepolje is well known for being multicultural for centuries with both mosque and a church adorning the town. The recognizable town landmark is the 16th-century Sahat Kula (Clock Tower).
