Wheelchair Rugby was invented in 1977 in Winnipeg, Canada by a group of quadriplegic athletes who were looking for an alternative to wheelchair basketball. They wanted a sport which would allow players with reduced arm and hand function to participate equally.

The sport first appeared outside of Canada in 1979, at a demonstration at Southwest State University in Minnesota. The first Canadian National Championship was held that same year. The first team in the United States was formed in 1981, and the first international tournament, bringing together teams from the United States and Canada, was held in 1982. Throughout the 1980’s, other local and national tournaments took place in various countries. The first international tournament with a team from outside North America was held in 1989 in Toronto, Canada. With teams from Canada, Great Britain and the United States, this was a breakthrough for developing international competition and cooperation. In 1990, Wheelchair Rugby appeared at the World Wheelchair Games as an exhibition event, which helped fuel the sports rapid growth and popularity internationally.

In 1993 with 15 countries actively participating, wheelchair rugby was recognised as an official sport for athletes with a disability, and the International Wheelchair Rugby Federation (IWRF) was established as a sport section of the International Stoke Mandeville Wheelchair Sports Federation. That same year, seven countries participated at the Stoke Mandeville International World Wheelchair Games.

In 1994, Wheelchair Rugby was officially recognised by the International Paralympic Committee (IPC) as a Paralympic sport. The first Wheelchair Rugby World Championships were held the following year in Nottwil, Switzerland with eight teams competing. In 1996, Wheelchair Rugby was included as a demonstration sport in the Atlanta Paralympic Games with 6 countries competing. In 1998, Toronto, Canada hosted the second IWRF Wheelchair Rugby World Championship, and 12 countries attended.

Wheelchair Rugby was recognised as a full medal sport for the first time at the 2000 Paralympic Games in Sydney, Australia. World Championships and the Paralympics are held every 4 years.

Currently, there are more than forty countries that actively participate in the sport of wheelchair rugby, or who are developing programmes within their nation.