The Unione Sportiva Sansepolcro, founded in 1921, failed in 1982 after two consecutive championships played in Serie C2.

In 1987–1988, thanks to the second place in Prima Categoria, the team won promotion to Promozione.

The team achieved promotion to Eccellenza in 1991–1992, while in 1993–1994 was promoted to National Amateur Championship or Serie D. Since then the team has played continuously in Serie D. On 4 July 2000, the team was renamed Altotevere Calcio, part of a project to create a single company based in Sansepolcro, Citta di Castello and with the achievement of professional categories.

On 20 June 2009, the Sansepolcro won the Scudetto Junior by beating Savona in the final on penalties.

In the 2010–11 Serie D season Sansepolcro gained access to the play-off for promotion in Lega Pro Seconda Divisione but eventually was eliminated.