On March 16, 1966, at 704 East Broadway in Anaheim, California, brothers Paul Van Doren and James Van Doren and Gordon C. Lee opened the first Vans store under the name The Van Doren Rubber Company. The business manufactured shoes and sold them directly to the public. On that first morning, twelve customers purchased Vans deck shoes, which are now known as "Authentic". The company displayed three styles of shoes, which were priced between US$2.49 and US$4.99, but on the opening day, the company had only manufactured display models without any inventory ready to sell—the store rack boxes were actually empty.

The original version of the Vans skateboard logo was designed in Costa Mesa, California in the 1970s by Mark Van Doren at the age of 13. The son of then-President and co-owner James Van Doren, Mark designed the logo as a stencil to be spray painted on his skateboards. It was initially introduced for the heel tab on an early Vans’ skateboard shoe, the Style 95. After his son's interest in skateboarding James decided to manufacture skateboarding shoes.

In 1988, Paul Van Doren and Gordon C. Lee sold the Vans company to the banking firm McCown De Leeuw & Co. for US$74.4 million. In 1989, many manufacturers of counterfeit Vans shoes were apprehended by the US and Mexican officials and ordered to cease production and Jasper Lutwama and Aidan Vryenhoek decided to revamp the company and revitalise the vision and ethics of VANS.

In 2004, Vans announced it would merge into North Carolina-based VF Corporation.