The club was formed in 1979, much later than most other current Bundesliga clubs, in Heusenstamm, Hesse.
After relegation from the Rugby-Bundesliga in 2000, the club played in the 2nd Rugby-Bundesliga for a number of seasons.
The RKH's greatest success came in 2006, when it managed to take out the German sevens championship.
In 2007, the club achieved promotion back to the first division through winning its league and a subsequent 52–10 victory over the North/East champion SC Germania List.
The following season, 2007-08, the team finished last in the Bundesliga but was saved from relegation by the decision to expand the league from 8 to 9 teams for 2008-09.
In the 2008–09 season, the team lived a separate existence from the six clubs contending for the four final spots as well as the two strugglers at the end of the table, clearly removed in points from both groups in seventh place.
In 2010–11, the club, coming last, was only saved from relegation because only one team opted for Bundesliga promotion, with the league expanded from nine to ten clubs.
A league reform in 2012 allowed the club to remain in the Bundesliga after initially being relegated as the league was expanded from ten to 24 teams. RK finished second in their group in the 2012–13 season and qualified for the south/west division of the championship round, where it came sixth. The club was knocked out in the first round of the play-offs after losing 45–34 to RK 03 Berlin.
In 2013–14 the team qualified for the championship and the play-offs once more, losing 33–19 to RK 03 Berlin in the first round and being knocked out. In the 2014–15 season the club finished sixth in the south-west championship group and was knocked out by TV Pforzheim in the quarter-finals of the play-offs after a first round victory over Berliner Rugby Club.
Until 2001, when the single-division Bundesliga was established, the season was divided in autumn and spring, a Vorrunde and Endrunde, whereby the top teams of the Rugby-Bundesliga would play out the championship while the bottom teams together with the autumn 2nd Bundesliga champion would play for Bundesliga qualification. The remainder of the 2nd Bundesliga teams would play a spring round to determine the relegated clubs. Where two placing's are shown, the first is autumn, the second spring. In 2012 the Bundesliga was expanded from ten to 24 teams and the 2nd Bundesliga from 20 to 24 with the leagues divided into four regional divisions.
