Ju-jutsu was first developed by Samurai. Fighting forms have existed for centuries. The first references to unarmed combat arts or systems is in the earliest purported historical records of Japan, the Kojiki (Record of Ancient Matters) and the Nihon Shoki (Chronicles of Japan), which relate the mythological creation of the country and the establishment of the imperial family. Other glimpses can be found in the older records and pictures depicting sumai (or sumo) no sechie, a rite of the Imperial Court and Kyoto performed for purposes of divination and to help ensure a bountiful harvest. There is a famous story of a warrior Nomi no Sukune of Izumo who defeated and killed Tajima no Kehaya in Shimane prefecture while in the presence of Emperor Suinin. Descriptions of the techniques used during this encounter include striking, throwing, restraining and weaponry.

The term "jū-jutsu" was not coined until the 17th century, after which time it became a blanket term for a wide variety of grappling-related disciplines. Prior to that time, these skills had names such as "short sword grappling" (小具足腰之廻 ,kogusoku koshi no mawari), "grappling" (組討 or 組打 ,kumiuchi), "body art" (体術 ,taijutsu), "softness" (柔 or 和 ,yawara), "art of harmony" (和術 ,wajutsu,yawarajutsu), "catching hand" (捕手 ,torite), and even the "way of softness" (柔道 ,jūdō) (as early as 1724, almost two centuries before Kano Jigoro founded the modern art of Kodokan Judo).

Today, the systems of unarmed combat that were developed and practiced during the Muromachi period (1333–1573) are referred to collectively as Japanese old-style ju-jutsu (日本古流柔術 ,Nihon koryū jūjutsu).

At this period in history, the systems practiced were not systems of unarmed combat, but rather means for an unarmed or lightly armed warrior to fight a heavily armed and armored enemy on the battlefield. In battle, it was often not possible for a samurai to use his long sword, and would therefore be forced to rely on his short sword, dagger, or bare hands.

When fully armored, the effective use of such "minor" weapons necessitated the employment of grappling skills. Methods of combat (as just mentioned above) included striking (kicking and punching), throwing (body throws, joint-lock throws, unbalance throws), restraining (pinning, strangulating, grappling, wrestling) and weaponry. Defensive tactics included blocking, evading, off-balancing, blending and escaping. Minor weapons such as the tanto (dagger), ryu fundo kusari (weighted chain), kabuto wari (helmet smasher), and kakushi buki (secret or disguised weapons) were almost always included in Sengoku ju-jutsu.

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