In the earlier days of this mosque, it was actually intended to be made as a surau or musolla. The construction of this mosque was a social contribution from Proton City Development to the community. The mosque was built on a plot of land of 0.96 acres wide. It was completed in June 2006 and passed for Certificate of Fitness (CF) by Tanjung Malim District Council in August 2009. Due to increasing demand from the residents to conduct Friday prayers on the surau, so the Chairman and committee members sent their application to the Islamic Council. The application was accepted and the surau was upgraded to a mosque named Masjid Al Hidayah Proton City on 16th January 2009.
On 18th December 2009 (1 Muharram 1431H), in conjunction with Maal Hijrah celebration in Perak, His Royal Highness the Sultan of Perak officiated the mosque with a new name, Masjid At Taqwa. The cost to construct this mosque is valued around RM2 million.
The mosque gives its visitors a breath of fresh air due to its strategic location at the foot of the Titiwangsa Range. It is also located near the border of three different states, Pahang, Selangor and Perak. The concept of the mosque involves fresh flowing of air inside the mosque. The mosque inhibits similarities in their ‘Awan Larat’ carvings with Imam Bukhari Mosque in Uzbekistan. In fact, the carvings on this mosque were hand made by professional workers from Uzbekistan. The colour of the mosque were chosen based on soil colour, which is related closely to nature.