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The club was established in 1953 as Westfield Boys Club and started playing in the local Woking and District Football league. During their time in the local leagues, the club won the Surrey Junior Charity Cup and the Surrey Junior Cup. After a few seasons, the club moved up to the Surrey intermediate leagues.

For the 1962–63 season, the club joined the Parthenon League, now under the name of Westfield and finished runners-up at the first attempt. The following season saw the club join the Surrey Senior League. Their ninth season in the Surrey Senior League, 1972–73, saw the club clinch the league title and complete a double success by winning the league cup. Further success followed the next season as they successfully defended the league title. The 1974–75 campaign saw the club make their debut in the FA Vase, where they lost to Chertsey Town, and finished bottom of the league; however, they did not suffer relegation back to the intermediate leagues.

In 1978, the club became a founder member of the Home Counties Football League, which was then renamed the Combined Counties Football League the following season. The club remained in the Combined Counties Football league for the next twenty-seven seasons, despite finishing in the bottom three times within this period. They also managed to advance to the Concours Challenge Trophy, but lost out to Hartley Wintney in the final. This period also saw the club enter the FA Cup for the first time when they met Dorking in the extra preliminary qualifying round, but lost 2–1. The 2005–06 campaign saw the club finish in eleventh place, but they were relegated to Division one as their ground did not meet the criteria to remain in the Premier Division.

In 2011–12, the club rewatched its first cup final for in twenty years when they met Warlingham in the Division One Challenge Cup, but lost 4–2. In 2013, the club's youth team was transferred to the Sturridge Football Academy, owned by Daniel Sturridge and operated in part by Leon Sturridge and Cleveland Clarke, which now runs the club's U18 team.

In 2017–18, Tony Reid's side went one better than their runners up position the previous season, after they clinched the Combined Counties Football League title with six games remaining. The Yellows beat local rivals Knaphill 4–1 at Woking Park (12 April 2018) to secure the championship and promotion to step 4 of the National League System for the first time in their history.

2018-19 saw the club finish in 5th place, losing the play-off semi-final to Bracknell Town.

The club remained in contention for promotion to the Isthmian League Premier Division during the 2019–20; however, the season was eventually abandoned due to the coronavirus pandemic, after the UK Government placed all four nations on lockdown from 23 March 2020. This prompted Reid and his assistant Martyn Lee to resign on 15 April 2020, with both seeking new managerial roles within the higher echelons of the non-League football pyramid.

On 16 May 2020, Westfield formally announced the appointment of Simon Lane, who had previously managed at Egham Town, Northwood, Windsor and Eton and Wingate and Finchley. On 9 February 2023, it was announced that Lane had left the Woking Park side to join Kingstonian.

On 25 February 2023, the club announced it had appointed former Arsenal, Fulham and Woking midfielder Ian Selley.