Richardson began his career in the youth system at Third Division club Millwall and made two appearances during the 1965–66 season.
[3] An injury to Peter Gelson saw Richardson included in the starting lineup and his performance led to a write-up in the Middlesex Chronicle.
[3] Richardson finished the 1966–67 season with 24 appearances to his name and played in the victorious 1967 London Challenge Cup-winning team.
[7] Richardson had a loan spell at North American Soccer League club Dallas Tornado during the 1972 season and he scored once in 9 appearances.
[7][9] After departing Aldershot, Richardson dropped into non-League football and signed for Southern League Premier Division club Hillingdon Borough.