The name Prijepolje means "Prija's field"; Prija was the owner of the land before the town was built and polje is the Serbian word for "field". Prijepolje is located at the confluence of the fast-flowing Lim and Mileševka rivers, along the road from Belgrade to the Adriatic sea and on the Belgrade – Bar railway. The Belgrade – Adriatic road is intersected here with the regional road Pljevlja – Prijepolje – Sjenica. This road runs roughly the same pathway as the ancient Roman and Ottoman road, called Dubrovnik road. At Bistrića, north of Prijepolje, there is a road leading towards Priboj, Višegrad and Sarajevo.

There is a lot of historical monuments from the period of christianity and from islam period as well. The Mileševa Monastery is located 6 km to the east of Prijepolje on the Mileševka River. The monastery is famous for The White Angel fresco, a famous and widely-used religious icon in Serbia and as the former resting place of St. Sava, Serbia's most honored patriarch.

Socilal life There are registered 29 NGO's in Prijepolje, but the most active ones are New Vision, Integra, Argument, Woman Center, scout's "Bosko Buha", Friends of Brodarevo, Friends of Sopotnica and Friends of Kamena Gora.