Reflexology is a complementary therapy based on the manual stimulation of reflex zones primarily located on the feet and hands. Its main therapeutic objective is to induce physiological responses aimed at functional regulation and the individual’s overall well-being. Contemporary practice is grounded in neurophysiological mechanisms of reflex action, linked to somatovisceral integration and modulation of the nervous system. From a historical perspective, the therapeutic stimulation of the hands and feet can be observed in various ancient medical systems, particularly in traditional Eastern practices such as Traditional Chinese Medicine and Ayurveda, where these techniques are used within energetic and empirical models of bodily balance. However, these antecedents do not constitute reflexology in the strict sense, as they lack a formulation based on anatomofunctional correspondences mediated by the nervous system. This article presents a critical narrative review of the historical and conceptual evolution of reflexology, analyzing its transition from traditional Eastern practices to its consolidation as a complementary therapy within modern Western medicine. The contributions of nineteenth- and early twentieth-century physiology are examined, together with the clinical input of specialists of that period, which enabled the structuring of a reproducible and clinically grounded discipline. Finally, contemporary neurophysiological evidence is integrated to support its therapeutic principles and its responsible inclusion within an integrative health care approach.