The village is first mentioned in 1315 as Rutnergast. It means high sandy ridge belonging to Rottum. Rotstergaast already has two chapel in 1315. One is transformed into a church, however it had become derelict by 1718 and was abandoned. In 1928, a new church was built which is nowadays in use as a village centre. In 1840, Rotstergaast was home to 60 people.
Before 2014, Rotstergaast was part of the Skarsterlân municipality and before 1984 it was part of Haskerland.
