The club was established in 1904 as Pilton Yeo Vale, and were founder members of the North Devon League in the same year.

[6] The club were league champions in 1952–53, and reached the first round of the FA Cup again in 1954–55, losing 4–1 at home to Bournemouth & Boscombe Athletic in front of a record crowd of 6,200.

[6] The league was reduced to a single division in 1960, and the club reached the FA Cup first round again in 1972–73, before losing 2–0 at home to Bilston.

In 2023–24 the club finished fifth in the Premier Division and qualified for the promotion play-offs, in which they lost 3–1 to Falmouth Town in the semi-finals.

[1] The record attendance at Mill Road was set in the 1954–55 season when a crowd of 6,200 watched an FA Cup first round tie against Bournemouth & Boscombe Athletic.