Milford & Witley Football Club were formed in 1996, with the amalgamation of the independent football clubs of Milford Football Club and Witley Football Club.
 

Milford had been running as a club for nearly 50 years, and had nearly always competed in the Intermediate League.

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Witley also had a long history, stretching back before the second world war. There appears to have been a Witley team during the war who continued to play some matches, including game's against German Prisoners of War, whose team it is believed contained a couple of pre-war internationals. It is assumed these would not have been considered friendlies at the time!

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Witley FC was reformed after the war circa 1948 when they joined the Guildford and District League. They worked their way through the divisions until they joined the Surrey Intermediate League (western). Again success followed as they climbed through the divisions until they won the top division twice in the 1970s. On winning their second title they joined what was then known as the Surrey Premier League. finishing third in their first season. Subsequently they returned to the Surrey Intermediate League (western) until they eventually merged with Milford FC.

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Witley's benefactor for many years was Mr. Maurice Baring who was a resident of the village. He was related to the Baring family who founded the Barings Bank which was among the oldest merchant banking companies in England until its collapse in 1995. In his younger days he was an international squash player and a saloon car racing driver and it is thought that the famous racing driver Graham Hill was his mechanic for a short while. Mr. Baring was also a life long member of the Queens Club.