Founded in 1971 by Dionisio Muñoz Jerez. The founding act of the club was signed on 20 July that year. Alcorcón spent roughly its first 30 years of existence in between the fourth division and the regional leagues. Alcorcón played its first match on 8 September 1971 against Atlético Madrid and lost it 0:2. In 2000–01, it made its Segunda División B debut, finishing in 12th place, and spending the following seasons immersed in mid-table positions. The 2003–04 season Alcolcórn led by coach Raúl González finished in 10th position in Segunda División B. In 2008–09, a third place in the regular season meant Alcorcón was allowed to appear in the promotion play-offsfor the first time in its history. After disposing of Sant Andreu and Alcoyano, the club was ousted by Real Unión of Irun in the final round with a 3–1 aggregate scoreline.
Following the Alcorconazo, in the 2009–10 season, Alcorcón was finally promoted to level two after defeating Pontevedra and Ontinyent in the promotion play-offs. In the second tier, the club played twice the promotion play-offs but were defeated by Real Valladolid in the final of the 2012 edition and by Girona in the semi-finals of the 2013 edition. In 2017, Alcorcón qualified to the Copa del Rey quarter-finals for the first time in their history after a penalty shoot-out victory over Espanyol, but were beaten 2–0 on aggregate by Alavés. Alcolcórn was 13th in the 2017–18 season in the Segunda Dicisión B, just 4 points away from being relegated. In the next campaign Alcolcón also struggled, but retained its place in Segunda División, finishing the season in the 14th position.
