WRT was established in late 2009. The team purchased three Audi R8 LMS race cars as the official Belgian Audi motorsport importer and entered competitions including the Belcar Endurance Championship, the FFSA GT Championship, and the Spa 24 Hours. In 2010, Gregory Franchi and Anthony Kumpen won the Belcar Drivers' Championship while the team secured the Belcar Teams' Championship. In 2011, WRT expanded into the FIA GT3 European Championship and Blancpain Endurance Series. In July 2011, in only their second attempt at the Spa 24 Hours, WRT won the race with Franchi, Timo Scheider, and Mattias Ekström.
WRT entered the FIA GT World Championship in 2012 as Audi's representative, finishing third in the Teams' standings and winning three races. In 2013 they won both the Teams' and Drivers' Championship of the FIA GT Series.
In 2014 WRT won the Teams' and Drivers' Championship in the Blancpain GT Series, the Blancpain Endurance Series Teams' Championship, and the Blancpain Sprint Series Teams' Championship. In July 2014 they won the Spa 24 Hours a second time, with Laurens Vanthoor, René Rast, and Markus Winkelhock. In 2015 they repeated as Blancpain GT Series, Endurance, and Sprint Teams' champions, and also won the 24 Hours of Nürburgring.
In 2016 WRT entered touring car racing in the TCR International Series under the Leopard Racing badge, fielding Volkswagen Golfs for Stefano Comini and Jean-Karl Vernay. Comini won the TCR International Drivers' title in 2016 and Vernay in 2017.
In 2018 WRT won the Bathurst 12 Hour at their first attempt with the Audi R8 LMS GT3.
WRT entered two Audi RS5 Turbo DTMs as a customer team in the 2019 DTM season, fielding Jonathan Aberdein and Pietro Fittipaldi. Aberdein finished tenth overall as the highest-ranked rookie. In 2019 WRT also won the Suzuka 10 Hours. For 2020, WRT fielded Harrison Newey alongside Fabio Scherer, with Ferdinand Habsburg joining in a third car; Habsburg scored the team's first DTM podium and pole position. When Audi withdrew from DTM at the end of 2020, WRT chose not to continue in the series.
In 2021 WRT launched a full LMP2 programme in both the FIA WEC and European Le Mans Series using Oreca 07-Gibson cars. Car #31, driven by Robin Frijns, Ferdinand Habsburg, and Charles Milesi, won the LMP2 class at the 2021 24 Hours of Le Mans. The team won all possible LMP2 titles in the FIA WEC and ELMS in their debut season, while also winning five of six available titles in the GT World Challenge series.
In 2022 Valentino Rossi joined WRT for a season in the GT World Challenge Europe alongside factory Audi drivers. Dries Vanthoor and Charles Weerts won the GT World Challenge Europe Sprint Cup Drivers' title for the third consecutive year. WRT concluded their 13-year Audi partnership at the end of 2022.
WRT entered two Oreca 07s in LMP2 for the 2023 WEC season. The #41 car of Rui Andrade, Robert Kubica, and Louis Delétraz won the 2023 FIA WEC LMP2 championship, recording three wins and six podiums from seven races. WRT ended their LMP2 era in the WEC with ten race victories from 19 starts and two championship wins in three seasons.
WRT announced on 2 August 2022 that they would terminate their GT partnership with Audi Sport and simultaneously become BMW Motorsport's factory team for an LMDh Hypercar programme in the WEC. At the same time they switched their GT3 programme from Audi to BMW M4 GT3.
WRT's debut with BMW began at the 2023 Dubai 24 Hour, which they won — recording the BMW M4 GT3's first major 24-hour race victory. WRT also won the Kyalami 9 Hours 1–2 in 2023.
In 2024 WRT entered two BMW M Hybrid V8 Hypercars and two BMW M4 GT3s in the LMGT3 class of the WEC. In the LMGT3 class, car #31 of Augusto Farfus, Sean Gelael, and Darren Leung won at Imola and finished second at Le Mans. The #46 car was shared by Valentino Rossi, Maxime Martin, and Ahmad Al Harthy.
For 2025 ex-Formula One driver Kevin Magnussen joined Dries Vanthoor and Raffaele Marciello in the #15 Hypercar. The car finished second at Imola less than ten seconds behind the winning Ferrari. In May 2025 WRT unveiled new headquarters at Bierset, near Liège Airport.
From 2026 WRT expanded the BMW Hypercar programme into the IMSA SportsCar Championship in North America, taking over from BMW's previous IMSA partner.
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