FA Cup 2023/24, Extra Preliminary Round |
 | 08.08.2023 |  | Little Oakley | – | Baldock Town | | 3:1 (1:1) |
| Little Oakley |
FA Cup 2022/23, Extra Preliminary Round |
| 06.08.2022 | | Leighton Town | – | Baldock Town | | 9:2 (4:2) |
| Leighton Buzzard |
FA Cup 2021/22, Second qualifying round |
| 18.09.2021 | | Wingate & Finchley | – | Baldock Town | | 3:0 (1:0) |
| London |
FA Cup 2019/20, Extra Preliminary Round |
| 10.08.2019 | | Saffron Walden Town | – | Baldock Town | | 1:0 (1:0) |
| Saffron Walden |
FA Cup 2018/19, Preliminary Round |
| 26.08.2018 | | Romford | – | Baldock Town | | 3:2 (2:1) |
| Aveley |
FA Cup 2017/18, Second Qualifying Round |
| 16.09.2017 | | Baldock Town | – | Aylesbury United | | 1:2 (0:1) |
| Hitchin |
FA Cup 2016/17, Extra Preliminary Round |
| 06.08.2016 | | Flackwell Heath | – | Baldock Town | | 6:3 |
| Flackwell Heath |
FA Cup 2014/15, Preliminary Round |
| 31.08.2014 | | Baldock Town | – | Harlow Town | | 0:3 |
| Hitchin |
FA Cup 2000/01, Third Qualifying Round |
| | | Ilkeston Town | – | Baldock Town | | 3:0 |
| |
FA Cup 1998/99, First Qualifying Round |
| | | Baldock Town | – | Great Wakering Rovers | | 1:3 |
| |
FA Cup 1997/98, First Qualifying Round |
| | | Slough Town | – | Baldock Town | | 5:0 * |
| |
FA Cup 1996/97, Second Qualifying Round |
| | | Baldock Town | – | Stevenage Borough | | 1:2 * |
| |
FA Cup 1995/96, Second Qualifying Round |
| | | Baldock Town | – | Hayes | | 0:1 |
| |
FA Cup 1994/95, Third Qualifying Round |
| | | Baldock Town | – | Aylesbury United | | 0:2 |
| |
FA Cup 1993/94, Second Qualifying Round |
| | | Dagenham & Redbridge | – | Baldock Town | | 2:1 |
| |
FA Cup 1992/93, Second Qualifying Round |
| | | Baldock Town | – | Newmarket Town | | 2:6 * |
| |
FA Cup 1991/92, Fourth Qualifying Round |
| | | Halesowen Town | – | Baldock Town | | 1:0 * |
| |
FA Cup 1990/91, Preliminary Round |
| | | Chesham United | – | Baldock Town | | 4:1 |
| |
FA Cup 1989/90, First Qualifying Round |
| | | Baldock Town | – | Wycombe Wanderers | | 0:2 |
| |
FA Cup 1988/89, First Qualifying Round |
| | | Hemel Hempstead | – | Baldock Town | | 5:1 |
| |
FA Cup 1987/88, Second Qualifying Round |
| | | Uxbridge | – | Baldock Town | | 1:0 |
| |
FA Cup 1986/87, Second Qualifying Round |
| | | Baldock Town | – | Bromsgrove Rovers | | 0:1 |
| |
FA Cup 1985/86, First Qualifying Round |
| | | Baldock Town | – | Harrow Borough | | 0:2 |
| |
FA Cup 1984/85, First Qualifying Round |
| | | Moor Green | – | Baldock Town | | 2:1 |
| |
FA Cup 1970/71, Preliminary Round |
| | | Wolverton Town & BR | – | Baldock Town | | 1:0 |
| |
FA Cup 1969/70, Second Qualifying Round |
| | | Baldock Town | – | Hoddesdon Town | | 0:1 |
| |
FA Cup 1968/69, First Qualifying Round |
| | | Baldock Town | – | Hoddesdon Town | | 0:2 * |
| |
FA Cup 1967/68, First Qualifying Round |
| | | Harrow Borough | – | Baldock Town | | 1:0 |
| |
FA Cup 1950/51, Preliminary Round |
| | | Baldock Town | – | Huntingdon United | | 1:3 |
| |
FA Cup 1949/50, Second Qualifying Round |
| | | Hitchin Town | – | Baldock Town | | 4:1 |
| |
FA Cup 1948/49, Preliminary Round |
| | | Baldock Town | – | Vauxhall Motors Luton | | 2:5 * |
| |
