The band was founded as The Yorkshire Copper Works Band in Stourton, Leeds, initiated by Kenneth Fraser, the Managing Director of Yorkshire Copper Works, who also became the band's first President.

It was formed from members of the Stourton Memorial Band, which dissolved as players joined the new ensemble. The company invested heavily in the band's launch, purchasing a full set of instruments (reportedly costing £2,500) and two sets of uniforms — one for summer and one for winter.

The band was renamed The Band of Yorkshire Imperial Metals following a merger between Yorkshire Copper Works and ICI Metals. The company, known for producing copper and brass tubing — including tubing for brass instruments — supported the band from its Leeds headquarters.

The nickname 'Yorkshire Imps' became a beloved shorthand, enduring through decades of change and still being used to this day.

This was the period that cemented the band's reputation as one of the finest in the country. The band won the British Open Championship three times (1970, 1971, 1982) and were crowned National Champions of Great Britain in 1978.

The band also won the Yorkshire Area Contest in 1981 at St. George's Hall, Bradford, achieved triple success at the Edinburgh Festival Invitation Contest, and were prize winners at the World Music Festival in Kerkrade, Netherlands.

Musical direction under legends including Trevor Walmsley and Denis Carr helped shape the band's signature sound. Key players during this era included Philip McCann (Cornet), Ian Bousfield (Trombone), Robert Childs and Nicholas Childs (Euphonium).

The band became IMI Yorkshire Imperial Band in 1980. In 1999, the band merged with Rothwell Band to form DUT Yorkshire Imperial Rothwell Band. Later iterations included Yorkshire Imperial Urquhart Travel Band, reflecting evolving sponsorships.

In 1995, the band won the Brass in Concert Championships, one of the UK's most prestigious entertainment contests.

The band continued to compete in major contests including the British Open, All England Masters, and Brass in Concert. In 2005, the band became the First Section National Champions of Great Britain — making the Imps the first band ever to win both a National and Lower Section National title.

Throughout this period the band worked with Musical Directors including Stig Maersk, Steve Walsh, Martin Heartfield, and David Hamilton, and were honoured to partner with Russell Gray and David Thornton for notable contests.

Notable performances included Wembley Stadium during the Rugby World Cup Final (televised globally), the Royal Albert Hall for the Prince's Trust Gala Concert (broadcast live to millions), BBC Countryfile Live at Castle Howard in 2019, welcoming the Yorkshire Regiment home after overseas service, and sharing stages with Diana Ross, Eric Clapton, Barry Manilow, and Shirley Bassey.

During the COVID-19 pandemic, when national lockdowns and social distancing measures disrupted normal banding activities, the Yorkshire Imperial Band made a concerted effort to maintain musical engagement and community spirit.

Despite restrictions on full rehearsals, members formed small, socially distanced groups to continue playing together safely. These sessions, held outdoors or in well-ventilated spaces, helped preserve the band's cohesion and morale during a challenging time.

The band released the album Simply Imps in May 2023, featuring works by Shostakovich, Andrew Lloyd Webber, and The Mamas & the Papas.

In 2024, the band won the First Section Yorkshire Area Championships, earning promotion to the Championship Section. Recent performances have included Wakefield Theatre Royal, Penistone Paramount, Durham Miners Gala, Holmfirth Food Festival, and Piece Hall.

The Yorkshire Imperial Band is entering an exciting new phase under the baton of the incredibly experienced Ian McElligott, whose reputation as a conductor and arranger is recognised across the brass band world.

In 2025, the band achieved a strong 8th place finish at the Yorkshire Area Championships with Diversions for Brass Band — its highest result in the top section in over a decade.