The club was formed in 1923 when four rugby enthusiasts agreed to start a club.
When the league system was introduced in 1987 Esher were placed in London 1, but were relegated in the first season and did not win promotion back to that league until 1993.
Esher were first promoted to the national leagues system for the 1997–98 season, finishing fourth in National League 2 South. They led for most of the season the following year but finished second, but won promotion in 1999–00. The club set a new points record when winning National Division Two in 2006–07 and were thus promoted. They were promoted into the second tier, the RFU Championship after winning National League 1 in 2009-10. During this season they broke the world record when they beat Manchester 148 – 0. They played in the Championship for two seasons before being relegated back into National League 1 for the 2012–13 season.