It was invented by the Fourth Hokage Namikaze Minato.
Minato Namikaze was inspired by the tailed beast jade and took three years to create the ninjutsu. The Rasengan can condense the chakra in the body into the hand, and then condense it into a chakra ball in a strange way to attack.
Minato’s teacher Jiraiya taught the Rasengan to Naruto. In order to increase the power of the Rasengan, Naruto asked Asuma Sarutobi for advice on how to master the changes in the nature of wind escape. The Rasengan is infused with the Wind Release Chakra, and new techniques with the effect of whirling cutting are developed: the Wind Release Rasen Shuriken and other derivative ninjutsu. Naruto who has turned on the Nine-Tails Chakra mode can skillfully use various types of Rasengan, and the Rasengan has been used to its extreme in Naruto's hands.