The Museum is situated in the Old Magistrates Courthouse, Petersfield, Hampshire. It is located halfway down the alleyway between St Peter's Road and Hylton Road. The Museum was formed by a group of local historians, 'The Petersfield Area Historical Society'. Over the years, objects and archive material was collected, later formally transferred to the Museum and now forms the extensive collections. The Museum has been open since 1999 and holds materials that relates to the town of Petersfield and the surrounding villages.
The Museum holds photographs, archives, oral history and maps relating to the town and surrounding area. A timeline feature takes the visitor through the history of the town alongside some temporary cases which change over annually.
In 2007 the Bedales Historic Costume Collection was donated to the Museum. This collection is made up of about 1000 pieces including ladies, gents and children's clothing and accessories dating from 1720.
In 2009 the Flora Twort Gallery and its collections were transferred to the Petersfield Museum Trust. This collection consists of paintings, sketches by Flora and archives relating to her life.