On February 3, 1980, a group of Christians met at 9:30 AM at the Golden Strip Vocational Center for the first worship service of what is now known as Woodruff Road Presbyterian Church. The Reverend Reuben J. Wallace was the organizing evangelist. Three churches agreed to sponsor this work: Second Presbyterian Church, Greenville; Friendship Presbyterian Church, Hickory Tavern; and Fairview Presbyterian Church, Fountain Inn. In April of that year, the Reverend Gordon Houser became pastor. The church decided to adopt the name "Heritage Presbyterian Chapel" in November.

On October 2, 1983, twenty-two people met in the manse for the first worship service on the current property which had been purchased in the Woodruff Road area.

On Sunday, January 5, 1986, Dr. Thomas G. Cross assumed the leadership of Heritage Presbyterian Chapel. The church officially organized on June 15, 1986 and by July the name changed to Woodruff Road Presbyterian Church. Dr. Cross held his last service as Pastor on May 27, 1990. During this time the membership was 164.

The 90's were a period of rapid growth and expansion under the leadership of Senior Pastor Dr. Rod Mays and Associate Minister, Richard Thomas. In 1999, Dr. Mays accepted a call to give leadership to the PCA's campus ministry (RUF) as the National Coordinator. In 2001 Reverend Thomas left WRPC to serve as the Senior Minister of the historic Mt. Calvary Presbyterian Church in neighboring Spartanburg County.

On June 1, 2000 the Reverend Carl Robbins assumed the leadership of WRPC. In the summer of 2001, Mr. Dan Dodds was called to minister in the areas of Counseling and Pastoral Care. In June of 2004 approximately 125 members volunteered to go out and plant the Palmetto Hills Presbyterian Church in Greenville. In the Spring of 2005, Scotty Anderson was called to minister in the areas of Youth and Families.

The staff was expanded in 2008 to include Ms. Carrie Creech as Coordinator of Children's Ministry and Mr. Todd Conner as Youth Ministry Coordinator. In 2011, Ms. Susan Barry took over the role of Children's Ministry Coordinator.

Several former Interns and Assistant pastors are now serving churches or campus ministries in the PCA and OPC. Among them are Rob Hamby, Justin Kendrick, Steve Lammers, David McIntosh, Ben Miller, Peter Van Doodewaard, Joel Smit, Andrew Cheatham, Jeff Hooker, Ross Fearing, and Jegar Chinnavan.

As of December of 2018, the membership of WRPC is over 700 total members.