Yhe PL-9 program was initiated in 1986. The missile entered batch production in 1989. Two improved variants, PL-9B and PL-9C, was certified in 1992 and 2002. The latest version of the PL-9 is PL-9D.

The missile was originally designed by Dong Bingyin (董秉印) at the Luoyang Electro Optical Center, which is also known as Institute 612 and renamed in 2002 as the China Air-to-Air Guided Missile Research Institute (中国空空导弹研究院). After Dong Bingyin died, his position was succeeded by Mr. Jin Xianzhong (金先仲). The deputy general designer of PL-9 is the same deputy general designer of PL-12, Dr. Liang Xiaogeng (梁晓庚).

The PL-9C is one of the later versions of the PL-9, which also has a surface-to-air variant (DK-9). The PL-9C tactical low-altitude surface-to-air missile (SAM) was first revealed during the 1989 Paris Air Show. The launch unit is available in both towed and self-propelled arrangements. The self-propelled version has a launch complex consisting four-rail launcher and the associated target acquisition and radar and electro-optical director mounted on a 6×6 WZ551 armored personnel carrier (APC). The towed version has a four-rail launcher mounted on a four-wheel carriage. The launch unit is supported by a range of truck-mounted ground equipment for maintenance and missile testing.