The club was founded in 1955 and initially participated in the Promozione Tuscany.

In the mid-sixties the club relegated towards the lower level Prima Categoria, but they also played in Serie D for five consecutive seasons between 1970 and 1975.

After playing for over a decade in the Eccellenza-division, Camaiore in 1990 returned to Serie D (then named Campionato Interregionale), before relegating again in 2001.

In the 2009–10 season, Camaiore won the regional playoffs and promoted to Serie D again.

At the end of the 2010–11 season they finished in 6th place, one point short from gaining the right to enter the playoffs.