Acrobatic dance emerged in the United States and Canada in the early 1900's as one of the types of acts performed in vaudeville. Although individual dance and acrobatic acts had been performed in vaudeville for several decades prior to 1900, it was not until the early 1900's that it became popular to perform acts that combined dance and acrobatic movements.

Acrobatic dance did not suddenly appear in vaudeville; rather, it appeared gradually over time in a variety of forms, and consequently no individual performer has been cited as its originator. Sherman Coates, who performed with the Watermelon Trust from 1900 to 1914, was recalled by fellow dancers as the first acrobatic dancer they had ever seen. Another of the earliest documented acrobatic dance performers was Tommy Woods, who became well known for his slow-motion acrobatic dance in Shuffle Along, in which he would execute acrobatic movements precisely in time with the music. In 1914, acrobat Lulu Coates formed the Crackerjacks, a popular vaudeville troupe that included acrobatic dance in their performance repertoire up until the group disbanded in 1952. Many other popular vaudeville companies combined acrobatics and dance in their shows, including the Gaines Brothers.

Since the decline of the vaudeville era, acrobatic dance has undergone a multi-faceted evolution to arrive at its present-day form. The most significant aspect of this evolution is the integration of ballet technique as the foundation for dance movements, thus bringing into acro dance a precision of form and movement that was absent in vaudeville acrobatic dance. Also, vaudeville acrobatic dances were often little more than acrobatics set to music, whereas modern acro dance is fundamentally dance, with its acrobatic movements performed in a dance context.