They were founded in 1921 and formerly known as Hampton FC until 1999 when they changed their name in an attempt to draw a wider support base from around the borough.

In the summer of 2003, the club invited experienced manager Alan Devonshire, who had just left Maidenhead United, to the Beveree.

On 28 April 2007, Hampton & Richmond Borough were promoted as champions of the league to the Conference South after a 4–2 victory over Slough Town.

The crowd of nearly 1,100 witnessed an epic match in which Hampton led 2–1 until a late Slough goal looked to have given the championship to promotion rivals, Bromley.

However, 90 seconds later Hampton retook the lead through a goal from Stuart Lake and shortly afterwards a penalty was awarded and scored by Elliott Godfrey, resulting in a 4–2 victory, and automatic promotion for the Beavers.

Hampton & Richmond Borough quickly established themselves in the Conference South in the sixth tier of English football.

The following season they suffered yet more heartbreak in the play-off final, losing 2–3 at their home ground to Hayes & Yeading United, having qualified as runners-up to AFC Wimbledon.

A curious fact is that both AFC Wimbledon and Hayes & Yeading United found out they would be going up at Hampton's Beveree ground.

The club also reached the First Round Proper of the FA Cup for only the second time in their history in 2007, losing to League Two side, Dagenham & Redbridge in front of over 2,000 fans.

On 29 January 2009 the club received a record transfer fee for its 20-year-old striker Ben Wright as he moved to League One side Peterborough United.

[1] In 2011–12, in progressing to the FA Trophy 3rd round, the club had had its best performance in England's premier non-league cup competition.

The following season, 2012–13, started off brightly in the Isthmian League Premier Division, as the club were looking for immediate promotion back to the Conference South.

[3] The management for the remaining games of the season was handed to first team coach Paul Barry and player Darren Powell.

[5] After a poor start to the 2014–15 season, Barry and Powell resigned on 13 September, following a 3–2 defeat away to VCD Athletic in the FA Cup.

[6] Earlier that week, the club had suffered a 6–4 defeat at home to Leiston in the Isthmian League Premier Division.

During his time as manager he led the side to 2 FA Cup First Round appearances and one finish in the playoffs, however this season was curtailed due to COVID-19[15] In December 2022, the club was taken over by Ramayana Ventures.

Following Mel's appointment, the team were able to escape the relegation places, finishing 17th in the National League South for the 2022/23 season.

On 11 October 2005, that capacity was tested with a crowd of 2,020 turning out for an Isthmian League match between Hampton & Richmond Borough and AFC Wimbledon.

Work was completed by the end of summer, and the new look clubhouse was officially opened by FA Chief Executive, Brian Barwick, on 26 August 2006.

The seating stand behind the goal at Beveree Stadium is named after Alan Simpson, known for co-writing Steptoe & Son, who was the president of Hampton & Richmond Borough Football Club for nearly 50 years.

The two sides played against each other in the 'Thames-side Derby' many times, the most recent encounter being in Boxing Day 2016 when the Beavers won 3–2 at Beveree.

More recent and low-key local rivals, which have resulted from Hampton playing in the same division as the sides, are with AFC Wimbledon, Walton & Hersham, Molesey, Chertsey Town, Kingstonian, Walton Casuals (now folded), and Slough Town The club's record victory is an 11–1 triumph over Eastbourne United in the division two South of the Isthmian League in 1990–91.

[19] On Tuesday 22 March 2016 the Beavers took on Cockfosters FC at Beveree in a Middlesex FA Charity Cup match.

After heading the table in January, they fought a close battle with East Thurrock Utd and Bognor Regis Town, which was only settled on the final day of the season.

In May 2014, the club also won the Middlesex Senior Cup following a 3–2 victory over Wealdstone, that season's Isthmian League champions.