It is located near small river Ros'ka, inflow of Ros'. The city is known since XII century. In 1185 inhabitants have won nomads and captivated their khan Tetij. The legend connects the modern name of the city with this event.
In 1606 city has received the Magdebourg right. In 1648 Tetiivs'ka squadron was a part of the Bila Tserkva regiment.