SV was founded in 1921 as Arbeiter Turn- und Sportverein Kirchbauna and was one of the many worker's clubs that disappeared under the Third Reich.

The long string of mergers of these unremarkable sides paid dividends when KSV Baunatal rose up out of lower-tier competition into the Oberliga Hessen (III) in 1970.

The club slipped to the Landesliga Hessen-Nord (IV) for a single season, but promptly reclaimed a place in the Oberliga.

An Amateur Oberliga Hessen (III) title in 1976 led to a three season long stint in the 2nd Bundesliga Süd.

KSV has been firmly settled into the Oberliga Hessen (IV) since 1999, generally finishing in the lower half of the table, while managing to earn better results on occasion.