Established in 1908 as Dartmouth United, the club began competing in the Torbay and District League.

They finished in the top two in each of their first three seasons in the South Devon League, winning the competition twice.

[1] Dartmouth's first season back in the Premier Division (2014/15) ended with them finishing in third place and they finished as runners-up the following season (2015/16) The reserve side also won the Division Three double that year.

At the end of the 2018/19 season, Dartmouth AFC won 2-0 vs Buckland Reserves to win the George Belli Cup at Dartington, with goals scored by Ryan Frost and Scott McRoy, captained by Ben Greeno.

At the end of 2018–19 the South West Peninsula League was restructured, and Dartmouth successfully applied for a double promotion to the Premier Division East, at Step 6 of the National League System.