The village presumably gained its name after a linden forest that grew in the past when the Karst was overgrown with forests. Albin Kjuder, a former parish priest from Tomaj, says that Urban Tekstor was born in Lipa in 1498 and that his ancestors immigrated here from an Istrian village called Lipa pri Jelšanah and named this village Lipa. On the edge of the village is a renovated church of St Mihael. The village has also a NOB monument. Many houses are on the list of ethnological heritage. The village is surrounded by several hills: Stol, Stolovec, Greben, Goli vrh and Trstelj on which leads a mountain path that starts in the village. The village school (first mentioned in 1845) was a hospital of Austrian army during the First World War. Later on it changed into a partisan school where presumably Ciril Zlobec had taught.