Founded in 1995 as Soto de la Moraleja, Alcobendas first reached the fourth division in 2006–07, finishing in fourteenth position. Changing its name to Soto Alcobendas Club de Fútbol in 2006, the team was again renamed the following year, to Alcobendas Sport, with the intention to cover the entire city.
In April 2020, Alcobendas announced an agreement with CF Rayo Majadahonda, and changed name to CD Paracuellos Antamira.[4]
In 1970, another club in the city was founded, Alcobendas CF. It also competed in the same divisions.