Judges is so called because it tells of the times of various rulers, or judges, of Israel from the possession of Canaan until the time of Samuel. Also found in Judges is the recounting of the adventures of Samson.

Judges 2

2:7 And the people served the LORD all the days of Joshua, and all the days of the elders that outlived Joshua, who had seen all the great works of the LORD, that he did for Israel.