We expose the theoretical mechanisms underlying disorder-induced nematicity in systems exhibiting strong fluctuations or ordering in the nematic channel. Our analysis consists of a symmetry-based Ginzburg-Landau approach and associated microscopic calculations. We show that a single featureless point-like impurity induces nematicity locally, already above the critical nematic transition temperature. The persistence of fourfold rotational symmetry constrains the resulting disorder-induced nematicity to be inhomogeneous and spatially average to zero. Going beyond the single impurity case, we discuss the effects of finite disorder concentrations on the appearance of nematicity. We identify the conditions that allow disorder to enhance the nematic transition temperature, and we provide a concrete example. The presented theoretical results can explain a large series of recent experimental discoveries of disorder-induced nematic order in iron-based superconductors.