The Police Heritage Museum grew out of one officer's desire to know more about the history of the York City Police Department. The officer's large personal collection of law enforcement artifacts, and the knowledge he gained during his search, became the impetus for the museum. Late in 1994 a core group of individuals met to discuss the incorporation of a police museum. It was obvious the museum would provide community enrichment through preservation, education, and presentation of the important role law enforcement has played in community history through maintenance of peace and order, thus ensuring community growth and prosperity.

For over a year and a half starting late in 1994, a small display area of twenty by twenty feet was maintained on the second floor of the Fire Museum of York County.In the spring of 1995 incorporation documents were filed and following the receipt of approvazl for incorporation, the first meeting was held with officers and the board of directors being elected. By design the museum's name was chosen so it did not denote or focus on a single police department or agency. The board of directors did not want to limit horizons, and felt even the smallest of law enforcement agencies had something to offer the museum. The board of directors set an initial goal of finding a place to house the museum, where people would "enter the past, see the present, imagine the future" of law enforcement.

After many contacts with city of York officials, a vacant commercial storefront in downtown York was secured and eventually deeded over to the museum. Many volunteers from throughout York County provided their time, talents and materials to do the renovation work required to get the building in good enough shape to house a museum. Eventually a state grant was obtained in order to place a new roof on the building, the most serious concern of the board of directors. Throughout this process businesses in York County continued to contribute monitarily to this project.

Artifacts over a century old have been secured from local and out of state law enforcement agencies. Agencies within York County have already donated pieces of their history. Many artifacts have, and continue to be, secured monthly through private gifts and private funds. Although artifacts collected are too numerous to list, these include documents, publications, police and prison equipment, and individual officer's equipment, along with badges and patches. A few artifacts date to the 1700's; many more are from the 1880's and early 1900's to the present. Included are police bicycles going back to the early 1900's and police motorcycles from the 1980's and 1990's. One interesting artifact is the original structure and gallows from the old York County Prison, which was used during the last hanging to take place in York County.