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Pre-merger

Hamworthy Football Club was established in 1926, and were founder members of the Dorset Combination in 1957. Trinidad Old Boys joined the Dorset Combination in 1965.

Post-merger

The two clubs merged in 1970 to form Hamworthy United, continuing in the Dorset Combination and playing at Hamworthy's County Ground. They were Dorset Combination champions in 1976–77 and won the League Cup in 1989–90. In 2002 the league was renamed the Dorset Premier League, with Hamworthy going on to win the league in its first season under the new name. They retained the title the following season, also winning the league's Charity Shield, and were promoted to Division One of the Wessex League.

In their first season in the Wessex League, Hamworthy won the League Cup, defeating Thatcham Town in the final. They went on to win the Dorset Senior Cup the following season with a 2–1 win over Poole Town in the final. In 2006 Division One of the Wessex League was renamed the Premier Division. They reached the final of the League Cup in 2008–09 and the Dorset Senior Cup in 2013–14, but lost in both matches.

Hamworthy won the Wessex League Cup in 2020–21, beating United Services Portsmouth 3–1 in the final. The 2021–22 season saw the club win the Premier Division, earning promotion to Division One South of the Southern League. At the start of the 2022–23 season they won the inaugural Wessex League Charity Shield, defeating Shaftesbury 2–0. The club went on to finish third in Division One South, qualifying for the promotion play-offs. After beating Evesham United 3–0 in the semi-finals, they lost the final 2–0 to Sholing. In October 2023 the club withdrew from the Southern League, stating that they would focus on their reserve team in the Dorset Premier League.