Xpeng Motors was founded in 2014 and is headquartered in Guangzhou. It is an Internet electric vehicle brand under Guangzhou Orange Mobility Intelligent Automobile Technology Co., Ltd. It was initiated by He Xiaopeng, Xia Heng, He Tao and others. The main members of the team come from well-known vehicle and large parts companies such as GAC, Ford, BMW, Tesla, Delphi, Valeo, as well as well-known Internet technology companies such as Alibaba, Tencent, Xiaomi, Samsung, and Huawei.

In January 2018, Xpeng Motors delivered 39 new cars and became the first Internet manufacturer to enter the China Passenger Car Association's new energy vehicle sales list. On January 10, the G3 model of Xiaopeng Motors was launched globally at the CES International Consumer Electronics Show in the United States and will be launched in the spring of 2018. On January 29, Xiaopeng Motors officially announced the launch of a RMB 2.2 billion Series B financing, which was jointly led by Alibaba, Foxconn and IDG Capital. After the completion of the Series B financing, Xiaopeng Motors' funds in the capital market will exceed RMB 5 billion. On March 1, Xiaopeng Motors announced that Gu Hongdi, chairman of JPMorgan Chase Asia Pacific Investment Bank, officially joined as vice chairman and president. On March 7, Xiaopeng Motors' first super charging station was built in Guangzhou. On November 13, 2019, Xiaopeng Motors announced the completion of a US$400 million Series C financing, with investors including Xiaomi Group and the company's founder He Xiaopeng. In addition to the US$400 million financing, Xiaopeng Motors also announced that it had obtained unsecured credit loans totaling billions of RMB from several banks including China Merchants Bank, CITIC and HSBC.

On the evening of August 27, 2020, Xpeng Motors officially landed on the New York Stock Exchange with the stock code "XPEV".