Founded in 1921 as Racing Club Vésulien, the club took the name US Vesoul. In 1950 the club merged with ASPTT Vesoul, becoming ASPTT/US Vesoul. Another merger in 1973 with an existing club named FC Vesoul saw the name USFC Vesoul taken.[2]
In 1994 the club were promoted to the fifth tier of the French football pyramid for the first time, followed by further promotion to the fourth tier in 2001. In 2002 the club took the new name Vesoul Haute Saône Football. Following several promotions and relegations between the fourth and fifth tiers, the club suffered a bankruptcy event in 2014 and was automatically relegated back to the regional league. It took today's name, Football Club de Vesoul at that point.[2]