The village of Lipová consists of three villages: Lipová, Hrochov and Seč.
Probably the oldest is Lipová itself, the first written mention of which dates from 1379. At that time, Vaněk of Boskovice sold the Lipov court to a certain Bohunek. In 1538, Kryštof of Boskovice gave Lipovský permission that robots could be redeemed instead. From the 16th century, the owners of Lipová were lords from Zástřízl. The village was burned down during the Thirty Years' War (1618 - 1648) and almost completely destroyed, leaving only 8 inhabited houses. From the end of the 17th century the village belonged to the Dietrichsteins and from the middle of the nineteenth century to the Mensdorfs. The history of Lipová is connected with the Boskovice estate, since 1960 it has belonged to the Prostějov district.
Hrochov was probably founded in the years 1660 - 1680 on a forest pasture, which the owner of the large estate in Suchdol Jakub Hrochov Jalůvka donated to several settlers. Before World War I, Hrochov was one of the poorest villages in the Drahanská Highlands. At that time, mainly weavers lived in Hrochov, and after 1918, domestic tailors sewed for Prostějov clothing companies. To a large extent, this also applied to the inhabitants of Lipová. There were almost no larger peasants with horse-drawn clothes in the village. Until 1960, the village belonged to the Litovel district, since that year it has belonged to the Prostějov district.
The village of Seč got its name from a felled forest - seče. It is the smallest, but probably the youngest, although accurate records are not available. It was founded on manorial land, probably after the Thirty Years' War. However, it existed before 1750. It was the only one in the Prostějov district in 1879.