Beckenham Town FC was formed in 1971, growing out of an amateur team called Stanhope Rovers, who had dominated the South East London amateur leagues since 1959. By 1971 it was apparent that they were the senior team in Beckenham and so they were re-incorporated as Beckenham Town, assuming the same name as an earlier club in the area which had folded in 1969.

As Beckenham Town, the club continued to compete in the South East London Amateur League with distinction, relocating to Stanhope Grove, the former ground of the defunct earlier Beckenham club.

In 1973 they switched to the Metropolitan London League and then in 1975, after being awarded senior status, they applied to and were accepted into the London Spartan League, starting out in Senior Division One and soon gaining promotion to the Premier Division in 1977/78.

In July 1980 Beckenham moved to their present ground in Eden Park Avenue, which they obtained from The London Borough of Bromley on a 25-year lease. They relocated to the Kent League in 1982, and have been fixtures in the top division ever since, although they have generally been a mid-table side. They also compete in such competitions as the Kent Senior Trophy and Surrey Senior Cup.