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Westfields FC were formed in November 1966 by a group of local youths who played friendlies on Widemarsh Common. One of the youths, Andy Morris, is still involved with the club and is now its chief executive.

Westfields initially entered the Herefordshire Sunday League, where they played for ten years, winning a number of trophies. In 1973, they fielded their first Saturday team in the Worcester and District League. Two years later they moved their ground from the King George V playing fields to Thorn Lighting's Rotherwas headquarters where they gradually developed the ground over the subsequent years.

In 1978, the club stepped up to the West Midlands (Regional) League, initially in Division Two. Promotion to Division One came in 1983–84, followed by a further step up to the Premier Division three years later.

The 2002–03 season saw the club do a league and county cup double, becoming the West Midlands (Regional) League Premier Division champions for the first time and defeating rivals Kington Town to win the Herefordshire County Challenge Cup. The title win saw them promoted to the Midland Alliance, where they finished sixth in their first season, although their second season saw them flirt with relegation before finishing in 20th position.

In the 2015–16 season, they reached the Herefordshire County Challenge Cup final at Edgar Street, but lost to newly-formed Hereford, their divisional rivals in the Midland Football League.

During the 2016–17 season they qualified for the first round of the FA Cup for the first time in their history where they faced National League North club Curzon Ashton. After drawing 1–1 at home, they lost 3–1 in the replay and were knocked out.

In February 2018, manager Sean Edwards, who was in charge during the club's famous FA Cup run, resigned. He was replaced by coach Andy Bevan. Bevan himself resigned in May 2019, being replaced by former captain and coach Phil Glover.

In 2019, the club was transferred from the Midland Football League to the Hellenic League as part of a reorganisation at step 5 of the National League System.

In September 2023, the club parted ways with manager Phil Glover after their poor start to the season. He was replaced by former player Scott Russell on 5 October.