The Library was established in 1934 when four groups of ladies, Lectus Club, The Tuesday Reading Club, P.E.O. and the Fiction Club, combined to organize an initiative for a public library. The present library building was constructed in 1941-42. On March 2, 1948 the name was changed from the Ripley County Memorial Library to the Doniphan Public Library.

The Current River Regional Library was established in June 1963, later becoming the Ripley County Library. In 1991 the two libraries combined to become the present Doniphan-Ripley County Library, with a branch library in Naylor.

The two Boards of Directors merged in order to represent the entire county. New board members are appointed by the Mayor and the County Commissioners.

In the same year, 1991, a local Friends of the Library group was begun. This group has worked closely with the libraries, holding annual book sales at both Doniphan and Naylor and participating in many other activities to provide support and publicity.