It was recognized as distinct from rheumatoid arthritis by Hippocrates as early as the second century.

The first description of AS in the literature was in 1559 by Realdo Colombo and the first account of the changes to the bones was given in 1691 by Bernard Connor who described changes to the skeleton. Benjamin Brodie in 1818 was the first to note that iritis accompanied spondylitis. However it was not until 1893-1898 when Vladimir Bechterev in Russia, Adolph Strümpel in Germany and Pierre Marie in France gave descriptions which allowed a diagnosis to be made. 

In 1973 the association between AS and the gene B27 was found.

Egyptian mummies have been found with ankylosing changes to their skeleton. (ie Amenhotep II (Pharaoh in 1439-1413 BC) , Rameses the Great (1298-1232 BC) and his son Merneptah).

It has been identified as the condition which Saint Banus (355-395 AD) suffered from (named Father Palm Tree in local language due to his stooped posture), forcing him to eat and sleep standing for 18 years. A disease much like AS has been found naturally in prehistoric crocodiles, monkeys and in horses.

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