In response to an increasing need for communication and transparency, with a view to reaching the standards of the modern armed forces capable to meet the challenges of the new international environment, at the end of October 1991, the leadership of the Ministry of National Defence decided to introduce public relations in the armed forces. To this end, the Information and Public Relations Section of the Armed Forces (IPRS) was established, subordinated to the defence minister.

On October 1993, by General Order of the defence minister and by Order of the General Staff, IPRS became the Information and Public Relations Directorate (IPRD). From 30 April 1997 to 20 February  2007, the structure was called the Public Relations Directorate (PRD). At present, the structure is called the Information and Public Relations Directorate.

From 1993 to 1997, it was subordinated to the Department for Defence Policy and International Relations then, from 1997 to 2000 is subordinated to the defence minister. Since March 2001, the Information and Public Relations Directorate came under the state secretary and chief of the Department for Parliament Liaison, Legal Harmonization and Public Relations, that changed its name after February 2007, into the Department for Parliament Liaison and Public Information.

Over the years, the directorate was led by BG Simion Boncu, Ph.D. (from 1991 to 1998), LTC Alex Mihai Stoenescu (from 1998 to 1999), COL Valentin Stancu (from 1999 to 2000), BG Mihai Floca, Ph.D. (from 2000 to 2001), BG Ion Chiciudean, Ph.D. (from 2001 to 2004), COL Alexandru Leordean, Ph.D. (2004), LTC Gelaledin Nezir, from January to April 2005. From June 2005 to February 2007, Mrs. Luminiţa Kohalmi, a civilian director, led the structure. From March  to November 2007, COL Ion Petrescu, Ph.D. was chief of directorate, followed by COL Sorin Stamate, from November 2007 to October 2008.

From October 2008 to May 2012, Fleet Rear-Admiral Tiberiu Fraţilă was the chief of the Information and Public Relations Directorate.

From May 2012 to March 2013, Brigadier General Răduţ-Marian Bîlbîie, Ph.D., was the chief of the Information and Public Relations Directorate.

The Information and Public Relations Directorate cooperates closely with similar structures in other institutions in the national defence and security system in order to improve inter-institutional communication in crisis situation.

Since January 2004, Public Relations was introduced among military specialities.