The club was founded in 1904 as Pilton Yeo Vale, before long changing to their current name. They have spent time in the North Devon League and the Devon & Exeter League, and joined the  in 1948 - the first North Devon club to do so. After winning the  Division Two in 1950, they were promoted to Division One, and have maintained that status (now named the "Premier Division") for all but three seasons since. They have been  champions twice, but were relegated to the lower division in 1991. Winning the Division One in 1994 led to promotion back to the Premier Division, where they resumed their friendly rivalry with their local rivals Bideford..

The club's reserve team have also had short spells in the  and the South , but now play in the North Devon League.

Barnstaple Town play their home games at Mill Road, a ground a few minutes walk from Barnstaple town centre.

Club honours

 Champions - 1952-53, 1979-80

 lower division Champions - 1949-50 (Div 2), 1993-94 (Div 1)

Devon St Lukes Cup - 1987-88

Devon Senior Cup (reserves) - 1993-94

Records

Record Attendance - 6200 v Bournemouth & Boscombe Athletic, F.A. Cup 1st Round Proper 1954

Biggest win - 12-1 v Tavistock, F.A. Cup 3rd Qualifying Round 1954

Biggest defeat - 1-10 v Mangotsfield United,  1990-91

F.A. Competitions - best performances

FA Cup - 1st Round Proper - 1951-52, 1954-55, 1959-60, 1972-73

FA Trophy - 2nd Round - 1971-72

FA Vase - 4th Round - 1994-95

Season-by-season record since 1948 >

Season Division Position Notes
1948-49
 Division Two
10  
1949-50
 Division Two
1 Champions, Promoted
1950-51
 Division One
6  
1951-52
 Division One
3 FA Cup First Round
1952-53
 Division One
1 Champions
1953-54
 Division One
4  
1954-55
 Division One
10 FA Cup First Round
1955-56
 Division One
8  
1956-57
 Division One
13  
1957-58
 Division One
4  
1958-59
 Division One
5  
1959-60
 Division One
15 FA Cup First Round
1960-61
20  
1961-62
19  
1962-63
10  
1963-64
7  
1964-65
20  
1965-66
17
1966-67
20  
1967-68
19  
1968-69
11  
1969-70
16  
1970-71
11  
1971-72
13  
1972-73
7 FA Cup First Round
1973-74
8  
1974-75
5  
1975-76
6  
1976-77  Premier Division 5  
1977-78  Premier Division 3  
1978-79  Premier Division 4  
1979-80  Premier Division 1 Champions
1980-81  Premier Division 2 Runner-Up
1981-82  Premier Division 2 Runner-Up
1982-83  Premier Division 8  
1983-84  Premier Division 3  
1984-85  Premier Division 13  
1985-86  Premier Division 17  
1986-87  Premier Division 11  
1987-88  Premier Division 12  
1988-89  Premier Division 9  
1989-90  Premier Division 18  
1990-91  Premier Division 20 Relegated
1991-92
 Division One
17  
1992-93
 Division One
9  
1993-94
 Division One
1 Champions, Promoted
1994-95  Premier Division 4  
1995-96  Premier Division 14  
1996-97  Premier Division 13  
1997-98  Premier Division 7  
1998-99  Premier Division 12  
1999-00  Premier Division 15  
2000-01  Premier Division 14  
2001-02  Premier Division 12  
2002-03  Premier Division 15  
2003-04  Premier Division 10  
2004-05  Premier Division 12  
2005-06  Premier Division 13