The club was established by Michael Mahoney in 1963, with players coming from the St Edmund Campion Youth Club. In 1975 they joined Division Four of the Bradford Sunday League, and the following season also entered a team to the Red Triangle League, a Saturday league. By 1979 they had reached the league's Premier Division, finishing as runners-up and winning the Premier Division Cup in 1979–80.

In 1981 Campion moved up to the West Riding County Amateur League. Although financial difficulties led to them dropping back into the Red Triangle League for the 1985–86 season, the club returned to the West Riding County Amateur League for the 1986–87 season. In 1989–90 the club were Division Two champions, also winning the divisional cup. They went on to win Division One and the divisional cup in 1992–93, earning promotion to the Premier Division.

Campion won the Premier Division Cup in 2003–04, and then three times in succession between 2005–06 and 2007–08. In 2015–16 the club applied for promotion to Division One of the Northern Counties East League, which was achieved after finishing third. At the end of the 2020-21 season the club were transferred to Division One North of the North West Counties League. In 2022-23 Campion were Division One champions and were promoted to the Premier Division. The following season saw them finish second in the Premier Division, qualifying for the promotion play-offs. They were subsequently beaten 2–0 in the semi-finals by rivals Albion Sports.

In the 2024/25 season, Campion AFC made history as they were chosen to feature live on the BBC Red Button in the FA Cup 1st Qualifying Round against higher opposition in non-league giants Blyth Spartans. Campion were arguably the better team, and took the lead through a Zak Khan goal, but a late Blyth goal resulted in a replay at Blyth Spartans which saw the home side win 4-1 (After Extra Time) in a game which saw Campion take the lead through skipper Aidan Kirby, and goalkeeper Brad Emmerson sent off in the second half at 1-1.