The club was founded in 2004 as Virumaa Jalgpalliklubi Rakvere (English: Virumaa Football Club Rakvere). From 2008, Rakvere became affiliated with Flora and became Flora Rakvere. In 2011, the team name was changed to Tarvas (English: Aurochs). In 2012, Tarvas was promoted to the Esiliiga for and finished the 2012 season in third place. Tarvas finished the 2013 Esiliiga season in 4th place but were beaten in the promotion play-offs by Tammeka 2–6 on aggregate. In July 2014, Valeri Bondarenko was hired as manager. Tarvas finished the 2015 Esiliiga season in 4th place and was promoted to the Meistriliiga for the first time in history. Tarvas earned just 1 point in first 14 Meistriliiga games. On 4 June 2016, Valeri Bondarenko was sacked and replaced as manager by Urmas Kirs, who coached the team in 2008.