The origins of Tang Soo Do as we know it can be traced back to the period of the Three Kingdoms in Korea, Shilla 57BC-935AD, Paekjae 18BC-660AD and Koguryo 37BC-668BC.

Many relics of Tang Soo Do (Soo Bahk Kee) from this era survive to the present day. One of the best known examples is the Koguryo wall painting depicting martial arts, which is at least 1500 years old. It was found in Jip Han Yern, on the lower part of the Ap Lok river, which forms part of the border between Korea and China.

Many Shilla Buddhist sculptures, depicting monks practising martial arts, also survive in Korea. The guardians carved at the entrance of Sokkuram Grotto display postures similar to those found in Tang Soo Do.

An entry in the 18th volume of the history of Koryo, written about 800 years ago, mentions We Moon Lee who was appointed the post of army commander by King E Jong, the 16th king of the Koryo dynasty (918AD-1392AD), for his expertise in Tang Soo Do (Soo Bahk Kee). The Koryo army used Tang Soo Do as a combat technique as well as a form of fitness training.

Moo Ye Do Bo, one of the most influential books on martial arts in Korea, was written appoximately 500 years ago during the Yi dynasty and describes various martial arts techniques.

The books increased the popularity of Tang Soo Do (Soo Bahk Kee) among the general public and the army began to use Tang Soo Do competitions as a method of recruiting soldiers.

Modern Tang Soo Do is heavily indebted to Grandmaster Hwang Kee who founded the Moo Duk Kwan (Korean Martial Arts Academy) on 9th November 1945.