'neuro-' originates from Greek, specifically the word 'neûron', where 'neûron' meant 'nerve'. 'atypical' originates from Greek via Latin and French, specifically from the Greek prefix 'a-' and the Greek word 'tupos', where 'a-' meant 'not' and 'tupos' meant 'impression' or 'type'.

'neuro-atypical' developed as a compound in modern English by combining the combining form 'neuro-' (used in medical and psychological terms since the 19th century) with 'atypical' (from late Greek via French and Latin). The compound usage became more common in late 20th and early 21st centuries, influenced by the rise of terms like 'neurodiversity' and 'neurodivergent'.

Originally, 'atypical' meant 'not typical' in general contexts; over time the compound 'neuro-atypical' came to be used specifically to indicate neurological or developmental differences rather than a general lack of typicality.