Like so many small town fire departments, the GVFD had its beginnings even before the Town of Gravenhurst became a town. In the early 1850's this area was completely covered in dense old growth forest, dotted with many lakes and streams. To early settlers, the area was a dream of an endless expanse of timber that was in demand in markets to the south. While some came to the area to clear land for farms, the biggest push came from logging. As the southernmost point on Lake Muskoka, the site was ideal for forays into the heart of Muskoka's timberland to the north. Lake travel was perfect for getting logging crews to the trees and for floating the logs to sawmills after they were felled. At the height of the timber era in 1870's, Gravenhurst's "Muskoka Wharf" was a major port providing lake access for vacationers transferring from train to the lake steamers. During this time there were at least 14 sawmills operating at Gravenhurst. It's no wonder it was first known as "Sawdust City".

In the beginnings, the GVFD was nothing more than an unorganized collection of neighbors who came out to help other neighbors when fire struck. Over the years the brigade became more organized, purchased modern equipment. That was until 1887. A fire, which began in Mowry and Sons Foundry, started a conflagration that quickly spread through town. When the smoke had cleared 45 families were homeless and over 50 businesses were wiped out. The firefighters had quickly responded with their Ronald fire engine, but they were unable to make it work. The insurance underwriter's report following the fire had stern criticism of the volunteer brigade, their training and equipment. The recommendations made in the report were followed by the town fathers and the foundation for what is now known as the Gravenhurst Volunteer Fire Department was laid.

The fire of 1887 did not destroy the Town Hall and its attached firehall at the corner of Brock and First Streets, however this was not long lived. In July 1897 both buildings burned to the ground. A new firehall was erected from the ashes on the site and included a bell tower, a garage for the fire engine along with jail cells and a residence for the local police chief. The first self-propelled fire apparatus for the department came in 1924 when a Ford Model T hose and ladder truck was purchased. In 1937 a Ford V8 hose and ladder truck went into service with a 90 gallon soda acid chemical booster tank and 35 feet of hose. This truck remained in service until 1953 when a fully equipped "modern" pumper was purchased. Built by Bickle Seagrave, this truck had a water tank, 500 gpm pump, hose and ladder. In June 1958 the department purchased a 1951 curbside van for $200.00. This vehicle allowed the firefighter's clothing and tools be carried to the scene separately. The 1898 firehall remained in use until 1969, when the current Station One was built, one block to the north. The old station was then used to house the local ambulance service until 1973, when it was demolished to make way for a new water tower.

The new firehall was also a joint venture with the local police force and was a product of the far-thinking Fire Chief S.R. (Roy) Mathias.. It contained an apparatus bay able to house four fire apparatus (The department only had a pumper and an equipment van at the time), a garage for the town police car, large classroom, kitchen and offices and an area for a bunkroom. This arrangement lasted until the formation of District government in 1972. At that time the local police force was disbanded in favour of policing from the Ontario Provincial Police, who had a detachment ten miles north at Bracebridge. As the area used by the police was now vacant, the town administration began to use the facility for extra offices. The town hall offices had been sharing space with the Electric Light and Water Commission on Bay Street since 1919 and had begun to run out of room. By 1974, Station One was also the Gravenhurst Town Hall. An arrangement that exists today.

As part of the formation of the District of Muskoka, Gravenhurst now encompasses the former Morrison, Ryde, part of Wood and Muskoka Townships. Providing fire protection to these areas was brought under the wing of the fire department. A new firehall was built on Barkway Road to be known as Station Three. Two truck bays were set aside in the Town's Public Works yard on Kilworthy Road aunder construction at rightdtion under construction at right Station Two was born.

As the town's administration grew, more space was needed at Station One and an addition was built in 1987. This included apparatus bays for two more trucks offices for the Chief, Deputy Chief and a classroom to replace those that were taken over by the Town's administration. In 1983 an addition was built onto Station Two to provide a classroom and small kitchen. In 1996 a classroom and kitchen were added to Station Three.