Established in 1926, they competed initially only in local leagues, including the Doncaster Red Triangle League, before turning semi-professional in 1935 joining the Sheffield Association League.

They first entered the FA Cup in the following season, and would eventually leave the Sheffield League in 1950 to join Division Two of the Doncaster & District Senior League. In their first season they were promoted to Division One.

After suffering relegation two seasons later, Armthorpe repeated their feat by winning Division Two at the first attempt to earn promotion back to Division One. This would mark the start of a golden period for the club, picking up five further Division One titles, before suffering relegation to Division Three by 1973. They would fold one year later.

Only Two years passed before the club reformed and rejoined the Doncaster & District Senior League, beginning in Division Three. Another flurry of trophies would follow, including the Division Three and Two titles, four League Cup triumphs and a West Riding Challenge Cup trophy by 1982. The following season saw them win the Premier Division, the League Cup, the West Riding Challenge Cup and the Goole & Thorne FA Challenge Cup.

After their Premier Division win, the club moved up to Division Two North of the Northern Counties East League, finishing as runners-up in their first season, earning promotion to Division One Central, before winning that on their first attempt en route to the Premier Division.

Armthorpe would become the division's longest serving club before being relegated to Division One at the end of the 2016–17 season.

Yorkshire's comeback kings haven't found it so easy this campaign, languishing in 13th place, well off the pace of the leaders. The Eagles will however, need to be on top form to emerge victorious from what will undoubtedly be a tough game, with their own title challenge very much hanging in the balance.