Most songs on Rubber Soul were composed shortly after the Beatles returned to London from their August 1965 North American tour. The album reflects the influence of their time in America, which included setting a record attendance at Shea Stadium and meeting Bob Dylan in New York and Elvis Presley in Los Angeles. Despite releasing Help! that same month, the Beatles needed a new album in time for Christmas, in line with their established schedule with EMI.

In their new songs, the Beatles drew inspiration from soul music acts signed to Motown and Stax, particularly singles they heard on US radio that summer, as well as from contemporary folk rock by Dylan and the Byrds. Author Robert Rodriguez notes the Byrds' role in this exchange of influence, stating they took elements from British acts and returned them to the US, joining the Beatles and Dylan in a shared pool of influence. Music critic Tim Riley describes Rubber Soul as a "step toward a greater synthesis" of various musical elements, with Dylan and the Rolling Stones serving as artistic peers rather than mere influences.

Two years into Beatlemania, the band began exploring new themes in their music, driven by their exhaustion from performing for screaming fans, their commercial power, literary curiosity, experimentation with hallucinogenic drugs, and interest in the recording studio. Ringo Starr called Rubber Soul the Beatles' "departure record," highlighting how marijuana influenced their openness to different attitudes. The album showcases John Lennon's maturation as a songwriter, encouraged by Dylan to tackle broader issues. George Harrison's perspective was also transformed by LSD, which revealed the futility of the band's fame and opened up a new consciousness.