We consider a history-dependent variational–hemivariational inequality with unilateral constraints in a reflexive Banach space. The unique solvability of the inequality follows from an existence and uniqueness result obtained in Sofonea and Migórski (2016, 2018). In this current paper we introduce and study a generalized penalty method associated to the inequality. To this end we consider a sequence of generalized penalty problems, governed by a parameter and an operator . We prove the unique solvability of the penalty problems as well as the convergence of corresponding solutions sequence to the solution of original problem. These results extend the previous results in Sofonea et al. (2018) and Xiao and Sofonea (2019). Finally, we illustrate them in the study of a history-dependent problem with unilateral boundary conditions which describes the quasistatic evolution of a rod–spring system under the action of given applied force.