Benelli was established in Pesaro, Italy in 1911. Teresa Benelli, a widow, invested all of the family capital into the business in the hope that it would offer stable work for her six sons: Giuseppe, Giovanni, Francesco, Filippo, Domenico and Antonio ("Tonino").

In the beginning, it was just the Benelli Garage, which repaired cars and motorcycles, but was already able to produce all of the spare parts needed for repairs. [2] In 1920 the company built its first complete engine in-house, a single-cylinder two-stroke 75 cc model, immediately adapted to a bicycle frame. A year later in 1921, Benelli built its first motorcycle, using their own engine which had by then become a 98 cc model.

Two years after that, using a version specially designed for competitions, Tonino "the terrible" took to the track. He displayed an extraordinary natural talent as a rider and embarked on a very successful career which confirmed the company's exceptional capacity for development and production. Riding a Benelli 175, Tonino Benelli won four Italian championship titles in five years: in 1927, 1928 and 1930 with the single overhead camshaft (SOHC) version, and in 1931 with the double overhead camshaft (DOHC) version. Unfortunately, a bad crash during a race in 1932 cut short his brilliant career and on 27 September 1937 Tonino died following a "silly" road accident.

As World War II loomed, the Benelli company debuted their four-cylinder supercharged 250cc racing bike. This was intended to compete in the 1940 season, building on Benelli's success in the 1939 Isle of Man TT Lightweight 250 cc race. With the start of the war, the Benelli Four was limited to competition in a handful of Italian domestic races.

In 1989 there was hope of a revival with the backing of Pesaro-based manufacturer Giancarlo Selci. But the time still wasn't right for a real comeback.

In 1995 revival of the brand with the glorious history became a real possibility when Andrea Merloni took charge. Results were fast in coming with the launch of the Tornado 900 Tre super sport bike in 2002 and the current launch of the TNT, the roadster. Former Australian Superbike champion Peter Goddard signed with Benelli in 2001 to accelerate the development of the Tornado Tre 900.

Benelli is now part of motor Group Qianjiang, which is a corporation located in southeast China at Wenling. Benelli Q.J. is located in Pesaro where the previous proprietors based the facilities, keeping the whole workforce previously working at Benelli s.p.a.