The Roos played its inaugural season in 1987 and was coached by Bob Bozada, compiling a 4-11 record in its first season.[2] In 1996, Kansas City won its first out right regular season conference championship in program history.
In 1999 and 2001, the Roos shared regular season conference championships. In 2001, Kansas City won its first-ever conference tournament and first trip to the NCAA tournament with a berth into the 2001 NCAA Division I men's soccer tournament after defeating IU Indy in the 2001 Summit League championship. In the 2001 national tournament, the Roos defeated the Milwaukee in the first round 2-1 and lost to Saint Louis 2-1 in the second round, also appearing in its first-ever round of 32 of the tournament.[3]
In 2008, the Roos were once again Summit league tournament champions, defeating Oakland in a penalty shootout. The win in the Summit league championship earned Kansas City a spot in the 2008 NCAA Division I men's soccer tournament where it lost in the first round to Tulsa.[5]
In 2024, Kansas City won the Summit league tournament with a 2-1 win in the final against Denver, making its first appearance in the NCAA tournament in 16 years.[6] In the 2024 NCAA Division I men's soccer tournament, Kansas City defeated Saint Louis 2-0 for its first trip to the Round of 32 since 2001.