The system was launched as a single shuttle route ahead of the 1994 FIFA World Cup at the Rose Bowl.

As of December 2024[update], the system consists of eleven lines, which are operated under contract by First Transit, with a fleet of 32 buses.

Known as the Pasadena Area Rapid Transit System (ARTS), it consisted of a single fare-free shuttle line called the Downtown Route, which connected Old Pasadena, Civic Center, Playhouse District, and South Lake Business District.

[1]: 12 When the Gold Line opened in July 2003, Pasadena ARTS also began charging a 50-cent fare, which allowed the agency to enter into interagency transfer agreements that enabled ARTS riders to transfer onto the Gold Line or buses from other agencies for an extra 25 cents.

In 2010, the Great Recession that was being felt around the nation also impacted Pasadena's budget, forcing the city to cut service, including the elimination of Sunday service; in addition, the aging vehicles dragged down the agency's on-time performance into the low-80% range, and ridership fell by 13% that year.

[2][3][1]: 15  Youth, senior, and disabled riders must use an appropriate Reduced Fare TAP Card in conjunction with an appropriate ID.

[1]: 12  Passengers who pay with cash stored on a TAP Card, can ride for 2.5 hours, and will get discounted inter-agency transfers.

[4] Pasadena Transit is managed by the city's Department of Transportation and is housed in a building at 221 E Walnut St. Operations and maintenance are handled by contractors using a leased facility at 303 North Allen Avenue.