Following the approval of a referendum in 1980, Waukesha Metro Transit started operating in 1981, returning bus service to the city for the first time since 1977.

The Downtown Transit Center also includes a two-floor parking ramp for 460 vehicles.

The opening was originally planned for late summer of 2004, but this was delayed due to WisDOT complaints that adjacent streets would be converted from one-way to two way in order to improve access and safety.

The City of Waukesha implemented security upgrades to the Downtown Transit Center in 2017 and 2018.

[7][8] In an October 2022 newsletter, the Southeastern Wisconsin Regional Planning Commission reported that Waukesha Metro Transit "performs very well", but recommends possible straightening of some routes if ridership doesn't return to pre-pandemic levels.