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"Zabok" means "behind the river curve" (the river in question is the Krapinica). The name Zabok first appeared in 1335 in a text in which ownership of Zabok was given to Petar, son of Nuzlin, by the King of Hungary, Karlo I. The Nuzlin family added the prefix de Zabok to their name and, by the 15th century, had started naming themselves "Zaboky de Zabok".
In 1782, Sigismund Vojkovic-Vojkffy started the construction of a church in Zabok, completing it in 1805. With the abolition of the feudalism, former serfs were offered a possibility of choosing their own place of settlement, and the majority settled along the roads connecting Gredice and Bracak with the new centre developing around the church, to form the new city centre. The town reached its final shape in the period after World War II, when it spread longitudinally along the northern side of the railway track.