In 1942, a fire occurred at Riley's Bar, near what is now Michelle's Bridal and Rentals in Avondale, Arizona. Since there was no official fire department at the time, community members joined forces to extinguish the flames, preventing the fire from spreading to nearby businesses. This incident led to the realization that Avondale needed incorporation, which took place in December 1946. By July 1947, the Avondale Fire Department was established as a volunteer department to serve the growing community, which had over 2,000 residents by the late 1940's. Chief John Mabis, a World War II veteran, became the first Fire Chief and played a pivotal role in the department's early years.
The First fire station, Station One, was constructed at the corner of Western Avenue and 6th Street, with assistance from nearby city jail prisoners. Volunteer firefighters were alerted to emergencies using a civil service siren, and one of the first fire engines acquired was a 1950 Chevy.

Over the years, the Avondale Fire Department continued to rely on volunteer firefighters and hired its first full-time firefighters, Elio Pompa and Ray Perez, in 1975. Federal employment programs were utilized for firefighter hiring into the early 1980s, and equipment was donated by Luke Air Force Base. 1980's and 1990's:
In the 1980s, Fire Station One faced structural issues, prompting the construction of a new, modern station at its current location on 5th Street in 1985. The department began training personnel as paramedics in 1990, and technical rescue training was introduced in 1995.

By the late 1990s, Avondale's population had grown, necessitating the opening of a second fire station, Station 172, in 1999. Recruits were also sent to the Phoenix Fire Department Academy for training.

In 2004, the department changed its name to Avondale Fire-Rescue to better reflect its services, and Station 173 was opened In 2005 to serve the southeast part of Avondale.

The department invested in training facilities, including "The Pit" and the Glendale Regional Public Safety Training Center. In 2008, an aerial platform was introduced, and efforts to construct additional stations, such as Station 174 and Station 175, have taken place to improve service coverage and response times in a growing city.