Robin Antin began exploring the idea of a modern burlesque troupe in 1993 with her friend Christina Applegate. The dance troupe's first performance was in 1995. During this period, they performed with numerous guest vocalists, with a repertoire of 1950s and 1960s pop standards while dressed in lingerie or old-fashioned pin-up costumes. They secured a Thursday night residency at Los Angeles nightclub The Viper Room, where they stayed from 1995 - 2001. The troupe received wider press coverage in June 1999, when Playboy ran a Pussycat Dolls pictorial, featuring at least seven contemporary members. Three years later, the Dolls moved to The Roxy. The group became internationally popular and was featured in magazines, television specials for MTV and VH1, ad campaigns, and movies. Some of the Pussycat Dolls appeared in the 2003 film Charlie's Angels: Full Throttle, dancing to "The Pink Panther Theme". They were also featured in Pink's "Trouble" music video. Along with Christina Applegate, Christina Aguilera, and Carmen Electra (who was the group's lead performer for many of their shows) the troupe was featured in a Maxim shoot in 2002, which increased public interest in them. Following this wider popularity, and with the involvement of music producers Jimmy Iovine and Ron Fair, the Pussycat Dolls were re-cast, transformed into a pop recording group, and became employees of Iovine's label Interscope Records. The only troupe members who remained after the re-casting process was, Carmit Bachar no longer in PCD, Cyia Batten, Kasey Campbell, Ashley Roberts, Jessica Sutta and Kimberly Wyatt. The main vocalists of the current recording group, lead singer Nicole Scherzinger and soprano Melody Thornton, were cast later in 2003 to complete the transition into a pop group. Electra, when asked about her lack of involvement with the group's evolution into a pop group, said: "I was part of the Dolls for over two years and did every show with them... but financially, I couldn't become part of their new music project... It was a sacrifice I couldn't make." She later made a cameo appearance in the music video for "Don't Cha". In late 2003, Electra formed another burlesque troupe called The Bombshell Babies, which included ex-Dolls Staci Flood and Nadine Ellis, and later adding ex-Doll Kasey Campbell.

In parallel to Pussycat Dolls as a recording act, in April 2005 a resident live show commenced at the "Pussycat Dolls Lounge" adjacent to Pure Nightclub in Caesars Palace on the Las Vegas Strip. This show contains "cast members" who continue the burlesque-style show which began in Los Angeles in 1995. At least one early member of the L.A. dance troupe, Rachel Sterling, made the move to the Las Vegas show. The cast includes vocalist Jamie Preston, Cindy, Hayley, Amanda Nowak,Ashley Gates, Colby, Bridgy, and Jamie Ruiz from Pussycat Dolls Present: Girlicious also joined the group. Former dolls include Mallory, Jen, Loreli, Victoria, Rosa, Marcea, Rita, Jessica Lea, Rachel Sterling, Laura Diane, Laurel, and Alicia between others. The venue is operated by Pure Management Group, Robin Antin has some involvement, but it is unclear whether Interscope also has a financial interest. The Pussycat Dolls recording group have made occasional appearances. In February 2007, Caesars Palace opened the Pussycat Dolls Casino located across from the Pussycat Dolls Lounge. It features "Dolls-style" decor and attire for the gaming staff, waitresses and dancers.