It is known from the 16th century as Klepiki Village.

After opening of the Transfiguration Church in the village it got the second name of Spasskoye. In the early 20th century the two names were integrated into Spas-Klepiki.

In the second half of the 17th century it was a trade settlement with a linen factory in the bustling Kasimov Road.

Cotton wool production and flax tow was developed in the settlements around Spas-Klepiki by the mid 19th century. The crafts of charcoal-burning, making bast shoes, manufacturing of furniture and peasant household items became widely spread in Spas-Klepiki and its vicinities in the 19th – early 20th centuries.

The narrow-gage railroad from Ryazan to Tuma was laid through Spas-Klepiki in 1899.

In 1919 the Klepikov District was formed. Spas-Klepiki became a town in 1920.

In 1909-12 the renowned Russian poet Sergey Yesenin studied at a church-run school in Spas-Klepiki. The famous artist Abram Arkhipov was born in Egorovo Village near the town.