WRT was founded in late 2009 and immediately purchased three Audi R8 LMS race cars as part of its role as the official Belgian Audi motorsport importer. The team raced in the Belcar Endurance Championship, the French FFSA GT Championship, and the Spa 24 Hours from 2010 onward. Success came immediately: Gregory Franchi and Anthony Kumpen won the Belcar Drivers' Championship, and WRT secured the Belcar Teams' Championship. In 2011, the team won the Spa 24 Hours in only its second attempt, with Franchi partnering factory Audi drivers Timo Scheider and Mattias Ekström.
WRT accepted entries in the FIA GT World Championship in 2012 as Audi's representative team, finishing third in the Teams standings and winning three races. The following year brought the FIA GT Series Teams' and Drivers' Championships. In 2014, WRT won both the Teams' and Drivers' Championships in the Blancpain GT Series as well as both titles in the Blancpain Endurance and Sprint Series separately, and claimed a second Spa 24 Hours victory with Laurens Vanthoor, René Rast, and Markus Winkelhock. The 2015 Blancpain GT titles were successfully defended, and WRT added the 24 Hours of Nürburgring — the newly homologated Audi R8 LMS's first win at that event.
The team diversified in 2016, entering the TCR International Series under the Leopard Racing badge with Stefano Comini and Jean-Karl Vernay, winning the Drivers' title in both 2016 and 2017. WRT also won the 12 Hours of Bathurst in 2018, their first attempt at the Australian endurance classic.
WRT entered two Audi RS5 Turbo DTMs in the 2019 DTM season with Jonathan Aberdein and Pietro Fittipaldi, grandson of two-time Formula One World Champion Emerson Fittipaldi. Although the team did not score a podium in 2019, Aberdein impressed to finish as the highest-ranked rookie. The team also won the 2019 Suzuka 10 Hours during this period. For 2020 the DTM line-up changed to Ed Jones, Fabio Scherer, and Ferdinand Habsburg, who scored the team's first DTM podium and pole position. Audi's withdrawal from DTM at season's end ended WRT's involvement in the series.
After the DTM exit, WRT announced an LMP2 program in the FIA World Endurance Championship to prepare for a planned LMDh Hypercar campaign. Entering an Oreca 07 driven by Robin Frijns, Ferdinand Habsburg, and Charles Milesi in the WEC, and a second car for Robert Kubica, Louis Delétraz, and Yifei Ye in the European Le Mans Series, the team was immediately competitive. At the 2021 24 Hours of Le Mans, WRT appeared set for a 1-2 finish in LMP2. Car number 41, driven by Yifei Ye, stopped on the final lap with a technical fault, handing the class win solely to car number 31, which crossed the line just over seven-tenths of a second ahead of the pursuing Oreca. WRT won all possible LMP2 championship titles in both the WEC and ELMS in that debut season.
Over the 2021-2023 LMP2 era, WRT won ten races from nineteen starts and claimed two WEC LMP2 championship titles. In 2023, the number 41 car of Robert Kubica, Louis Delétraz, and Rui Andrade won the final FIA WEC LMP2 championship. The team additionally won the Dubai 24 Hours in both 2022 and 2023 — the latter marking WRT's first outing with BMW machinery and the BMW M4 GT3's first major 24-hour victory.
WRT had initially been selected by Audi to run their LMDh program, but Audi cancelled the project shortly before its first rollout. In August 2022, WRT ended its thirteen-year Audi partnership and announced it would instead run BMW's factory LMDh Hypercar program in the FIA WEC, deploying the BMW M Hybrid V8 from the 2024 season alongside BMW M4 GT3s in the LMGT3 class.
The 2024 season was difficult in Hypercar for the team, though Dries Vanthoor's BMW M Hybrid V8 secured pole position at Le Mans. Both Hypercar entries suffered race incidents at Le Mans, but at the 6 Hours of Fuji the number 15 car finished second overall, giving BMW its first WEC overall podium. In LMGT3, WRT was stronger, winning a 1-2 at Imola and finishing second at Le Mans. For 2026, the team expanded its BMW program to the IMSA SportsCar Championship GTP class, taking over from Rahal Letterman Lanigan Racing as BMW's American racing partner.
W Racing Team's record across GT championships is exceptional: the team accumulated GT World Challenge Europe Teams' titles in 2011, 2012, 2014, 2015, 2020, 2021, 2024, and 2025, and the Sprint Cup Teams' title eleven times from 2013 to 2025. The 2021 season — in which WRT won the Le Mans LMP2 class on debut and simultaneously won five of the six possible GT World Challenge Europe titles — is widely regarded as one of the most successful individual seasons achieved by any customer racing team in European motorsport.