Treppendorf was probably first mentioned in 874 under the name Trebunesthorp and later in 1342 as Treppendorf. It was a small market town in the lordship of Oberkranichfeld. Until 1615, it was held as a Wettin fief by the Prussians, then belonged to Saxe-Weimar until 1620, later to Schwarzburg-Rudolstadt, to Saxe-Gotha and then to Saxe-Meiningen. In 1952, Treppendorf was assigned to the district of Rudolstadt, having previously belonged to the district of Weimar. In 1620, Treppendorf was extended by the Markersdorf district to the north. A small section of the wall of the Markersdorf church has been preserved to this day.

The village, which has always been characterized by agriculture, was partially destroyed by American shelling in the final days of the Second World War. The church, which was badly damaged, was then partially rebuilt and extensively renovated due to severe damage. The former restaurant and hall is now home to the Treppendorf Heimatverein e.V., which was founded in 1999 and has become a pillar of social and cultural life in the village.

The village has been part of the town of Rudolstadt since January 1, 2019.