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The history of religion refers to the written record of human religious feelings, thoughts, and ideas. This period of religious history begins with the invention of writing about 5,200 years ago (3200 BCE). The prehistory of religion involves the study of religious beliefs that existed prior to the advent of written records. One can also study comparative religious chronology through a timeline of religion. Writing played a major role in standardizing religious texts regardless of time or location, and making easier the memorization of prayers and divine rules. The concept of "religion" was formed in the 16th and 17th centuries. Sacred texts like the Bible, the Quran, and others did not have a word or even a concept of religion in the original languages and neither did the people or the cultures in which these sacred texts were written. The word religion as used in the 21st century does not have an obvious pre colonial translation into non European languages. The anthropologist Daniel Dubuisson writes that "what the West and the history of religions in its wake have objectified under the name 'religion' is something quite unique, which could be appropriate only to itself and its own history".

The school of religious history called the [[History of religions school, a late 19th century German school of thought, originated the systematic study of religion as a socio cultural phenomenon. It depicted religion as evolving with human culture, from polytheism to monotheism. The Religionsgeschichtliche Schule emerged at a time when scholarly study of the Bible and of church history flourished in Germany and elsewhere (see higher criticism, also called the historical critical method). The study of religion is important: religion and similar concepts have often shaped civilizations' law and moral codes, social structure, art and music.

Some historians have labelled the period from 900 to 200 BCE as the "axial age", a term coined by German Swiss philosopher Karl Jaspers (1883–1969). According to Jaspers, in this era of history "the spiritual foundations of humanity were laid simultaneously and independently And these are the foundations upon which humanity still subsists today." Intellectual historian Peter Watson has summarized this period as the foundation time of many of humanity's most influential philosophical traditions, including monotheism in Persia and Canaan, Platonism in Greece, Buddhism and Jainism in India, and Confucianism and Taoism in China. These ideas would become institutionalized in time – note for example Ashoka's role in the spread of Buddhism, or the role of Neoplatonic philosophy in Christianity at its foundation. The historical roots of Jainism in India date back to the 9th century BCE with the rise of Parshvanatha and his non violent philosophy.

From the 15th century to the 19th century, European colonisation resulted in the spread of Christianity to Sub Saharan Africa, and the Americas, Australia and the Philippines. The invention of the printing press in the 15th century played a major role in the rapid spread of the Protestant Reformation under leaders such as Martin Luther (1483–1546) and John Calvin (1509–1564). Wars of religion broke out, culminating in the Thirty Years' War which ravaged Central Europe between 1618 and 1648. The 18th century saw the beginning of secularisation in Europe, a trend which gained momentum after the French Revolution broke out in 1789. By the late 20th century, religion had declined in most of Europe.