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The first Taunton Association Football Club was formed on 11 September 1889 at the George Hotel.

In December 1947 a group of businessmen founded Taunton Football Club, and the club played its first match in Easter the following year. The club joined the Somerset Senior League, in which they played until 1953. During this year the club gained admission to the Western League for the first time. In the same year, the club also moved into their present ground on Wordsworth Drive, which they leased from Taunton Borough Council. During these early years of the club they battled financial problems and relied upon their Supporters Club.

In 1968–69, the club enjoyed success for the first time, winning the Western League under the management of Doug Hillard. Over the following years Taunton Town continued to prosper on the pitch, finishing as Western League runners-up in four consecutive seasons from 1973 until 1976. During this time the club bought their Wordsworth Drive ground from the local council and installed floodlights. In 1977 they were promoted into the Southern League (Southern Section). Two years later, following the opening of the M5 motorway, they moved into the Midlands Section of the league.

In 1981, the club became a limited company, and the club's board decided that competing in the Southern League was too much of a financial burden; resulting in a drop back into the Western League for the 1983–84 season. The club finished as league champions for the second time in 1989–90 and followed this win up with further success, winning the league again in 1995–96, 1998–99, 1999–2000 and 2000–01. They also finished as runners-up on four occasions; in 1993–94, 1996–97, 1997–98 and 2001–02. Following their runners-up position in 2001–02, and the improved financial position of the club compared to twenty years earlier, the club was successful in its application to re-enter the Southern League. The club have remained in this league ever since, and after the restructuring of the English football league system, the club were placed in the Southern Football League Division One South & West.

The club reached the final of the FA Vase in 1994, where they lost in extra time to Diss Town. A second FA Vase finals appearance in 2001 resulted in greater success, Taunton Town beating Berkhamsted Town 2–1. In 2016–17 they reached the first round proper of the FA Cup for only the second time in their history, where they faced Barrow and held them to a 2–2 draw but were beaten away in the replay 2–1.

In 2017–18, Taunton celebrated promotion from the Southern League South & West for the first time in their history, clinching the title after a home 3–2 win over Kidlington.

In 2018-19 Taunton narrowly missed out on promotion to the National League South after losing to Poole Town on penalties at the Viridor Stadium during their Southern League Premier playoff game.

On 20 November 2019, Taunton Town equaled the record for the longest penalty shoot out in English footballing history beating Truro City 12-11 after 34 penalties in the Southern League challenge cup. Goalkeeper Lloyd Irish scored one and missed another whilst also saving three penalties with Truro missing the target another 3 times before Jack Rice finally scored the winning penalty after 34 minutes of drama.

On 23 April 2022, Taunton won the final match of the 2021-22 season against third-placed Farnborough, securing their place as champions at the top of the league and promotion to the National League South for the first time in the club’s history.

On 17 January 2024, Taunton were issued a winding-up petition from His Majesty's Revenue and Customs (HMRC). As a result of the ongoing dispute, the club was placed under a transfer embargo by the National League on 2 February. On 6 March 2024, the club issued a statement confirming that they had been unable to fully pay players or staff, in addition to the inability to pay their commitments to HMRC.