The RDA was established through an Act of Parliament, Public Roads Act No. 12 of 2002 to be responsible for the care, maintenance and construction of public roads in Zambia. This was aimed at removing the fragmentation and duplication in the planning and implementation of road projects. It is governed by a 16–member Board of directors drawn from various stakeholder organizations.

The Agency has seven Departments: Planning and Design, Construction and Maintenance, Technical and Commercial Services, Corporate Services, Finance, Audit and Procurement. The Agency also maintains Regional Offices in all of the nine provinces of Zambia.