Virgin was among the founding entries of Formula E; its participation was officially confirmed in December 2013. For its inaugural 2014–15 season the team signed Jaime Alguersuari and Sam Bird. Bird scored three podiums — including two wins — to finish fifth in the Drivers' Championship. For the final London double-header Alguersuari was replaced by Fabio Leimer. The team finished fifth in the Teams' Championship with 133 points.
For the 2015–16 season Virgin confirmed Bird alongside Jean-Éric Vergne, who had moved from Andretti Autosport. The partnership with Peugeot, rebadged as DS Performance, brought four pole positions — three for Bird and one for Vergne — and a third-place finish in the Teams' Championship with 144 points.
In 2016–17 José María López joined Bird. López missed the New York City ePrix because of his FIA WEC commitments and was temporarily replaced by Alex Lynn, who retired from both races but took a pole position on debut. Bird won both those races. López returned for the Montreal ePrix and finished third. The team totalled 190 points for fourth in the Teams' Championship. Lynn was signed full-time for 2017–18, but could not match Bird's pace and was not retained. Bird was in championship contention as the main rival to Vergne — then at Techeetah — before being overtaken by Lucas di Grassi in the final New York City weekend and finishing third overall. The team scored 160 points for third in the Teams' Championship. The 2017–18 season marked the end of the DS partnership.
When DS moved its factory support to Techeetah, Virgin became an Audi customer team. This enabled the signing of Robin Frijns, an Audi factory driver, alongside Bird. A sponsorship agreement with Envision Energy led to the team being renamed Envision Virgin Racing. The Audi e-tron FE05 powertrain proved competitive: both Bird and Frijns led the Drivers' Championship at various points, and the team finished third with 191 points, one point ahead of Nissan e.dams.
Bird and Frijns were retained for 2019–20. Bird won the 2019 Diriyah ePrix and added a podium in Race 1 of the 2020 Berlin ePrix. Frijns recovered from a poor start — interrupted by the COVID-19 pandemic suspension — to take two podiums in the Berlin races that ended the season. The team finished fourth in the Teams' Championship.
After six seasons with the team, Bird left to join Jaguar Racing. In July 2020 the team announced reigning Super Formula champion Nick Cassidy as Frijns's partner for the 2020–21 season.
Following the 2020–21 season, Virgin ended its partnership with the team. The outfit rebranded as Envision Racing, adopted a new green livery, and retained Cassidy and Frijns. Alice Powell joined as Simulator and Development Driver.
For the Gen3 era the team switched from Audi to Jaguar powertrains. Sébastien Buemi, a former Formula E champion, joined alongside Cassidy following Frijns's departure. Cassidy won four ePrixs during the season and remained in contention for the Drivers' Championship. After a race victory in London Race 2 — the season finale — the team secured the Teams' Championship, the first title in the team's history across all its naming iterations.
For 2023–24 Frijns returned to the team while Cassidy moved to the Jaguar factory squad. Both Frijns and Buemi were retained for season 11 (2024–25); Buemi secured a race win at Race 2 of the Monaco ePrix. For 2025–26 Frijns was released and replaced by Joel Eriksson.
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