GMS Racing — originally called Gallagher Motorsports — was formed in 2011 for ARCA competition. Before establishing his own operation, owner Maurice Gallagher had worked with Las Vegas driver Spencer Clark's team in the NASCAR Busch East and Busch Series until Clark's unexpected death in 2006. The team expanded to the Camping World Truck Series in 2013 and entered the Xfinity Series in 2016.
Originally based at Charlotte, North Carolina in the former BAM Racing shop, the team relocated to Statesville, North Carolina in 2015 to a facility previously used by Evernham Motorsports and Richard Petty Motorsports.
In 2014, GMS acquired Richard Childress Racing's Truck Series program assets and established a technical alliance. By 2015, both RCR and Chevrolet had increased their technical support of the team.
The Xfinity program ran from 2016 to 2019. Spencer Gallagher drove the No. 21 part-time in 2016, achieving a best finish of eighth at Daytona in July. The No. 23 car debuted as a full-time entry in 2017 with Spencer Gallagher, who gave the team its first Xfinity win at Talladega Superspeedway in spring 2018. Gallagher was suspended indefinitely four days later for violating NASCAR's substance-abuse policy.
John Hunter Nemechek drove the No. 23 full-time in 2019, posting six top-5 finishes, nineteen top-10s, and a seventh-place points finish — the team's best Xfinity season result. GMS closed the Xfinity program on November 21, 2019 to concentrate on its Truck and ARCA operations.
Johnny Sauter secured his first career Truck Series championship with GMS in 2016, finishing third in the final race at Homestead. Sheldon Creed won the 2020 championship with five wins, nine top-fives, and thirteen top-tens. Zane Smith led the standings in both 2020 and 2021 but finished second in points both seasons.
Justin Haley won his first Truck Series race at Gateway in 2018, advancing to the Final 4. Brett Moffitt claimed multiple wins in 2019 at Iowa and Chicagoland. Grant Enfinger drove the No. 23 truck in 2022 and 2023, winning at Indianapolis, Kansas, Gateway, and Milwaukee Mile, and finishing second in points in 2023.
In early 2019, GMS announced the creation of Drivers Edge Development, a driver development program in partnership with JR Motorsports. The inaugural class included Noah Gragson, John Hunter Nemechek, Zane Smith, Sheldon Creed, Sam Mayer, and Adam Lemke.
On December 1, 2021, Gallagher purchased a majority interest in Richard Petty Motorsports for $19 million, forming Petty GMS Motorsports. That entity later became Legacy Motor Club in 2023 after Jimmie Johnson purchased a stake. GMS Racing proper ceased operations at the end of the 2023 season, with the closure announced on August 23, 2023.
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