The area around Richmond was settled as part of the town of in 1756. The town was set apart and incorporated in 1765, and named for Charles Lennox, Duke of Richmond. The town of Lenox, which grew out of the village of Yokuntown, was also named for him when it was incorporated two years later. The town was mostly agrarian until the discovery of iron ore in 1829, which led to an iron works which lasted into the twentieth century.

According to the United States Census Bureau, the town has a total area of 19.0 square miles (49.2 km²), of which 18.7 square miles (48.4 km²) is land and 0.31 square miles (0.8 km²), or 1.71%, is water.

Richmond is bordered on the north by Hancock and Pittsfield, on the east by Lenox, on the south by and , and on the west by Canaan, Columbia County, New York.

Massachusetts Route 41 passes from north to south through the town, and Route 295, the state's highest-numbered state route, continues from Route 41 to the corresponding New York state route. The nearest interstate is Interstate 90, also known as the Massachusetts Turnpike. Exit 1 is located two miles further south along Route 41, but only allows for westbound exit and eastbound entrance. The nearest westbound entrance to the interstate is in Canaan, at the Berkshire Spur (Connector) portion of the New York State Thruway, Exit B3. The nearest municipal airport is Pittsfield Municipal Airport, 5.5 miles (8.9 km) away, and the nearest airport serving national flights is Albany International Airport, 45 miles (72 km) northwest of the town. There is no bus service in town, and the nearest bus station is in Pittsfield. There is also a CSX freight rail line which passes through the town.

...
Wikipedia