Juggling was a highly developed art long before the medieval period, according to evidence found in ancient Egyptian, Greek, and Roman sculpture, coins, and manuscripts. Comparison with these ancient records reveals that although juggling has advanced in technical perfection, the underlying principles are still the same. In an early manuscript, for example, a bear is shown standing on its hind legs and juggling with three knives. (A similar feat is performed in the modern Russian circus with the bear lying in a small cradle and juggling a flaming torch with its hind legs).

In the 17th and 18th centuries the juggler found a living in the fairs, but it was not until the 19th century that he came into his own in the circus and in the music hall. These new fields provided a unique training ground for fresh talent and before long had produced such outstanding artists as Severus Scheffer, Kara, Paul Cinquevalli, and Enrico Rastelli (who could juggle with 10 balls, an almost miraculous accomplishment in the juggling world). Juggling large numbers of balls is no longer popular because much the same effect can be achieved with three balls by a juggler with a sense of style as with seven or eight. The modern tendency is more spectacular presentation of the juggling act: e.g., blindfolded on horseback, on a perch or high wire, or, as done by Rudy Horn, on a unicycle.