Their first soccer match was played on September 29, 1929 against a team from nearby Sheboygan, resulting in a 3–2 victory for Bayern.

In 1956, the team renamed to Milwaukee Bavarian SC and bought a new field on which to play home matches.

[1] The team took a hiatus from the NPSL for the 2014 season to focus on completing substantial upgrades to their Heartland Value Fund Stadium.

In 1976 they won their first National Amateur Cup, when they defeated a team from Trenton, New Jersey 3–1 in the final.

Note: Flags indicate national team as defined under FIFA eligibility rules; some limited exceptions apply.