The organization was founded in 1988. Its membership consists of Israeli rabbis and rabbinical students. RHR has a nineteen-member board of directors. Rabbi Arik Ascherman served as co-director of Rabbis For Human Rights, becoming executive director in 1998. Ayala Levi took over as executive director in 2010. In the past, the organization received funds from the EU, UK and Spain.
David Bedein from Independent Media Review Analysis has criticized RHR, accusing it of joining "forces with the PLO to support the idea that Israel, was indeed, an apartheid, racist regime" at the 2001 UN Anti-Racism conference in Durban, South Africa. Rabbi Ascherman strongly denies this account, saying: "I want to clarify that RHR’s representative at Durban, Rabbi Jeremy Milgrom, actively voiced our criticism of the inflammatory rhetoric and Israel-bashing".
Rabbi Ascherman and RHR also expressed concern about the second Durban conference, saying "that Israel has committed human rights violations [is an issue that] can appropriately be discussed at a conference like this. But if you allow the conference to be hijacked as if Israel is the only place in the world where there are issues of racism and human rights, then it makes a farce of the whole thing. We're not trying to protect Israel from being criticized, but as people who are really concerned with human rights and racism, and think it is important that there be a body among the community of nations dealing with these things, we don't want to see another hijacking