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The club was established in 1933 as the works team of Lockheed Borg & Beck, gaining the nickname "the Brakes" as a result of the products manufactured by the company. They initially played in the Warwick & District League, before joining the Coventry Works League for the 1934–35 season. In 1940 the club transferred to the Leamington & District League, but returned to the Coventry Works League two years later. In 1944 they changed leagues again, becoming members of the Coventry & District League. In 1947 the club was renamed Lockheed Leamington when they joined the Central Amateur League. After two third-place finishes the club joined the Birmingham Combination in 1949. In 1954 the league was disbanded and like most other clubs, Leamington joined the Birmingham & District League. Placed in the Southern Division for a transitional season, they were the division's runners-up, earning a place in Division One the following season. In 1960 the league was reduced to a single division and the club were champions in 1961–62.

The Birmingham & District League was renamed the West Midlands (Regional) League in 1962 and Leamington retained their league title in 1962–63 and then joined the Midland League. After finishing third in their first season, they won the Midland League title in 1964–65. The club remained in the league until 1971 when they moved up to Division One North of the Southern League. When Lockheed was renamed Automotive Products in 1973, the football club was renamed AP Leamington. In their first season under the new name the club won the Southern League's League Cup. In 1974–75 they reached the first round of the FA Cup for the first time, losing 2–1 at home to Southend United. Another first round appearance the following season ended with a 3–2 defeat at home to Stafford Rangers in front of a record crowd of 3,200. They went on to finish the season as Division One North runners-up, earning promotion to the Premier Division.

In the 1977–78 FA Cup, AP Leamington reached the second round; after beating Enderby Town 6–1 in the first round, they were drawn against Southend in the second. The first game at the Windmill Ground was drawn 0–0 and the club lost 4–0 in the replay at Roots Hall. They reached the second round again the next season, eventually losing 1–0 at home to Torquay United. However, a seventh-place finish in the league was enough to secure membership of the new Alliance Premier League, the national non-League division. The club struggled in the new league, finishing in the bottom five in both of their first two seasons, before finishing bottom of the league in 1981–82, which resulted in relegation back to the Southern League Premier Division. Although they won the Premier Division the following season, the club were denied promotion due to the Windmill Ground failing to meet the ground grading criteria.

The 1983–84 season saw Leamington reach the first round of the FA Cup, losing 1–0 to Gillingham, and they also won the League Cup and the Champions Cup. However, the club finished bottom of the Premier Division in 1984–85 and were relegated to the Midland Division, at which point the "AP" part of the name was dropped. In both of the next two seasons they finished in the bottom two of the Midland Division, and at the end of the second the club dropped into the Midland Combination Premier Division. After losing their Windmill Ground, they went into abeyance at the end of the 1987–88 season.

In 2000 the club was reactivated, joining Division Two of the Midland Combination. They won Division Two at the first attempt, and were Division One runners-up the following season, earning promotion to the Premier Division. Following a third-place finish in 2002–03, the club were Premier Division runners-up in 2003–04 and won the league title the following season, securing promotion to the Midland Alliance. In 2005–06 they entered the FA Cup for the first time since reforming and went on to reach the first round, eventually losing 9–1 at Colchester United. The club were Midland Alliance champions the following season, also winning the League Cup, and were promoted to Division One Midlands of the Southern League. Their first season in the Southern League saw them finish as runners-up, qualifying for the promotion play-offs; after beating Rushall Olympic 1–0 in the semi-final, the club lost 2–1 to Stourbridge in the final. However, they went on to win Division One Midlands in 2008–09 and were promoted to the Premier Division.

Leamington finished fifth in the Premier Division in 2010–11, but lost 3–1 to Hednesford Town in the play-off semi-finals. Two seasons later they were Southern League champions, earning promotion to the Conference North. After finishing thirteenth in their first season in the division, the club ended the 2014–15 season in the relegation zone and were relegated back to the Southern League. They finished fifth in 2015–16 and reached the play-off final after beating Redditch United 3–1 on penalties; however, they lost the final 2–1 to Hungerford Town. The following season saw them finish as Premier Division runners-up, and after beating Slough Town 1–0 in the play-off semi-finals, they defeated Hitchin Town 2–1 in the final to secure promotion back to the renamed National League North. In 2022–23 the club finished third-from-bottom of the National League North and were relegated to the Premier Division Central of the Southern League.