The club was established in 1959 as a
Sunday league club under the name Woolwich Town. They initially played in the Metropolitan Sunday League and were Senior Section champions in 1965–66, 1970–71 and 1974–75. In 1989 the club was renamed Woolwich Heathway, but reverted to their original name within a year. Despite only finishing ninth in their first season in Division Two, the club were promoted to Division One due to league restructuring. In 1996 Woolwich transferred to the
Kent League, and at the end of the 1996–97 season were renamed Erith Town due to their move to the Erith Stadium. The club reached the final again the following season, losing 3–1 on penalties to
Croydon after a 1–1 draw. A proposed merger with
Dartford Town in the summer of 2010 was abandoned, and the club went on to win the Kent Senior Trophy in 2010–11 with a 3–1 win over
Tunbridge Wells in the final. In
2023–24 they won the League Challenge Cup, beating
Corinthian 5–3 on penalties after a 1–1 draw, as well as winning the Kent Senior Trophy for the second time with a 3–2 win against
Croydon in the final. The club went on to finish league season in fourth place, qualifying for the promotion play-offs. After beating
Glebe 2–1 in the semi-finals, they defeated Corinthian on penalties in the final to earn promotion to the South East Division of the
Isthmian League. ==Ground==