The uneven rural development and the investigation of the place of rural areas in the modern knowledge-based economy raise an important question. How can we foster knowledge emergence and dissemination in peripheral areas that are often considered less innovative due to their remoteness and weak technological creativity? This paper aims to present the contributions of the French PSDR program to rural knowledge creation and dissemination in France based on a comprehensive and synthetic analysis of its participatory research projects. We identify five key components of the knowledge-related PSDR approaches which have significantly contributed to rural innovation in France linked to (1) the governance of agricultural lands, (2) the territorial attractiveness and well-being, (3) the agroecological transition in the territories, (4) the territorialized food systems, as well as (5) the bioeconomy and circular economy. We emphasize the need to combine technological, organizational, and territorial innovation and involve local partners in the design and elaboration of research programs. Rural areas can thus produce new knowledge beneficial to local communities and transferable to other sectors or territories. Finally, we suggest a comprehensive territorial vision for knowledge-based rural development and discuss the importance of a national multidisciplinary and participatory research program.