The club was established in 1927 and played in local leagues until World War II.

After finishing third in Isthmian League under manager Rod Stringer, the club lost in the promotion play-off semi-finals to eventual winners Boreham Wood.

[4] During the 2019–20 season, the club reached the quarter-finals of the FA Trophy, eventually exiting the competition after a 5–0 loss away to Notts County.

[6] The following season saw the club win the League Cup, defeating Potters Bar Town 3–0 in the final.

[8] They finished seventh in the National League South in their first season in the division, before losing 2–1 to Maidstone United in the play-off quarter-finals.

The club played at Lodge Meadow until moving to Mill Field in 1952, at which point they gained the nickname the Millers.

[11] During the 2010s the club bought the site of a former gravel pit from Thurrock Council using money raised from selling Mill Field to developers.

[1] Two covered terraces were erected behind each goal, either side of the goalmouth, whilst an artificial pitch was installed.