The club was formed in 1923 when four rugby enthusiasts agreed to start a club.
When the league system was introduced 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. They led for most of the season the following year but finished second, but won promotion in 1999-2000. The club set a new points record when winning National League 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.