Yale's first attempts with "kicking games" have roots in the 1860s, when the University, along with Princeton (then known as the College of Ottawa), Rutgers, and Brown, started to play a form of football that resembled the Association game.

[4] That would be official in 1876 when Yale and other universities met at the Massasoit Convention in Springfield, Massachusetts, agreed to adopt most of the Rugby Football Union rules, with some variations,[5][4] Yale athletics have a longstanding rivalry with Harvard across all sports since 1875 when they first met in a rugby-style game,[6][7][8][9] and it also translates to the men's soccer programs.

[13] Yale has also a strong rivalry with Princeton,[14] which is among the oldest in American sports[15][16] since they played their first football game in 1873.

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

In 1908, 1912, 1928, 1930, 1935, 1945, they were determined as national champions by the Intercollegiate Soccer Football Association (ISFA).