The first written mention of Pietrykaŭ goes back to the year 1523, where the community was under the Olelkovich family's Duchy of Slutsk–Kapyl, part of the Grand Duchy of Lithuania. The town became part of the Polish–Lithuanian Commonwealth in 1569, and so remained until its annexation by the Russian Empire at the second partition of Poland in 1793. Pietrykaŭ was administratively placed in the Mozyrsky Uyezd of Minsk Governorate. By the 19th century, it had come under the control of the Chodkiewicz noble Russian family.