In 1920 Acharya Kripalani joined freedom movement. He actively took part in the Non-Cooperation Movement. He was the member of the Gujarat Vidyapith, which was established by Mahatma Gandhi. Acharya Kripalani was greatly inspired by Gandhiji.He worked as a social reformer in Gandhiji's ashram and established several ashrams and worked for social welfare in the northern part of India. He joined the Indian National Congress and appointed as the General Secretary in 1928-29. Acharya Kripalani also participated in the Salt Satyagraha and the Quit India Movement. For active participation in the freedom struggle he was imprisoned several times by the British Government.
In 1946 Acharya Kripalani became the President of the Congress at Meerut session. Kripalani was the member of interim Government of India and was selected as the member of the Constituent Assembly of India. He led the congress during the days of the transfer of power. Acharya Kripalani left the congress for the ideological differences and formed Krishak Mazdoor Praja Party, which later came to be known as Praja Socialist Party. Acharya Kripalani left this party in 1954 and joined the Janata Party. He launched campaign against Indira Gandhi's rule along with Jaiprakash Narayana and protested against the promulgation of Emergency in 1975 and for that Kripalani was one of the opposition leaders to be arrested on the night of 26 June 1975. Acharya Kripalani married to Sucheta Kripalani who later became the first female Chief Minister of Uttar Pradesh .He passed away on March 19, 1982, at the age of 94.