This name has never been common in the English-speaking world, though it has been well-used elsewhere in Europe. A famous bearer was the Italian Renaissance master Raffaello Sanzio (1483-1520), usually known simply as Raphael in English.
It has occasionally been used as an English given name since the 16th century. It was moderately popular in the 1940s, but had a more notable upswing in the early 2000s. This may have been inspired by the Spanish actress Penélope Cruz (1974-), who gained prominence in English-language movies at that time. It was already rapidly rising when celebrities Kourtney Kardashian and Scott Disick gave it to their baby daughter in 2012.
The Cornish form of this name, Jennifer, has become popular in the English-speaking world.
The name was brought to England by the Normans. Notable bearers include author L. Frank Baum (1856-1919), architect Frank Lloyd Wright (1867-1959), and singer Frank Sinatra (1915-1998).
The use of Auden as a given name probably started in the 20th century, in honour of the famous English poet W. H. Auden (1907-1973). A known bearer of Auden as a given name is the American climate activist and businessman Auden Schendler (probably born sometime in the 1970s).