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In 1938, Feliks Olszak [pl], who was the director of Huta Stalowa Wola, established the Klub Sportowy Stalowa Wola (Sports Club Stalowa Wola). At that time, the club had a pitch without running tracks and stands. The players were amateurs. During this period, training sessions took place after finishing work, and the matches were played on Sunday. The first match took place on May 4, 1939, in the Saint Florian's Day who is the patron saint of steelworkers.

After the World War II, the club resumed its activity. In the 1953 season, Stal won the Klasa A (4th level). For the first time footballers from Stalowa Wola were promoted to II liga (2nd level) in 1973, under the leadership of Jerzy Kopa. Stal players played in the second league until 1987, when they won promotion to Ekstraklasa in the play-offs against Górnik Knurów. Stal Stalowa Wola played in Ekstraklasa in the following seasons: 1987–88, 1991–92, 1993–94 and 1994–95. The greatest successes of Stal include participation in the quarter-finals of the Polish Cup (1991–92 edition).

In the wake of winning the 2001–02 II liga (fourth group), Stal was elevated to I liga. In the primary season in the subsequent level, it was fifteenth completing in the relegation zone. At this level, it showed up again in 2006. It tumbled to the third level after the 2009–10 season, assuming the penultimate position in the league, ahead of Motor Lublin only. In the 2009–10 Polish Cup edition, Stal reached the 1/8 finals. In the second round, it unexpectedly eliminated the title defender Lech Poznań with Robert Lewandowski in the squad (0–0, p. 4–1). In 2010–2020, Stal played continuously in II liga.

The 2019–20 II liga season began severely for the Subcarpathian team – they had one point in the initial five matches. After the loss to Błękitni Stargard (0–1), the coach Paweł Wtorek resigned. He was replaced by Szymon Szydełko, who was unable to turn around the club's fortunes. Stalówka finished the season in 15th, thus becoming relegated to III liga. Szydełko stayed at the club, beginning another season with a victory in the Polish Cup over the II liga side Skra Częstochowa (3–1 win). On October 31, 2020, after the 0–3 loss to Wisła Puławy, Szymon Szydełko was released from his contract (at the time of his release, Stal was sixth, 18 points behind to first place). On November 4, 2020, Jaromir Wieprzęć was announced as his successor. They were not able to win the promotion back the following season, finding themselves remaining in the fourth-tier III liga.

In the 2022–23 season, Stal won the Polish Cup of the Subcarpathian Voivodeship and were promoted to the II liga – securing promotion in the penultimate round by winning 7–0 over Wisła Sandomierz and reaching a six-point lead over Avia Świdnik.