The 210th Pennsylvania Infantry was organized at Harrisburg, Pennsylvania beginning September 12, 1864 and mustered on September 28, 1864, under the command of Colonel William Sergeant.

The regiment was attached to 3rd Brigade, 2nd Division, V Corps, Army of the Potomac.

Boydton Plank Road, Hatcher's Run October 27–28, 1864.

Warren's Raid on Weldon Railroad December 7–12.

Lewis's Farm near Gravelly Run March 29.