Since the beginning of its existence, Pilica was part of Lesser Poland. In the years 1115–1118 testament of Bolesław III Krzywousty, Pilica became part of the district of Kraków. The probable date of its town rights is 1393. Several years after the uprising of 1 January 1870, Pilica lost its town rights under the Tsar's ukase of June 1, 1869, until it was regained in 1994.