The club was established in 1891 as Harpenden Football Club. They were founder members of the
Herts County Senior League in 1898, but left after two seasons. They also played in the Mid-Herts League, winning the league on several occasions. In 1908 the club adopted their current name and rejoined the Herts County Senior League, becoming members of the Western Division. They won the Western Division in 1910–11, but were runners-up in the subsequent three-team championship play-off. They retained the Western Division title the following season, this winning the championship play-offs. They were Western Division runners-up the following season. In 1920–21 Harpenden were Western Division champions again, but finished bottom of the championship play-off. In 1948 the club returned to the league and were placed in Division One. They were league champions in 1950–51, 1952–53 and 1954–55, finishing runners-up in the seasons in-between. In
2023–24 they finished third in the Premier Division, qualifying for the promotion play-offs, in which they lost 3–1 to
Leverstock Green in the semi-finals. ==Ground==