Chelmsford Museum was founded in 1835 by the members of the Chelmsford Philosophical Society and started life in the parlour of Chelmsford Gaol, then situated by the Stone Bridge in the centre of the town. The Society's founder member was Governor of the Gaol! In 1843 the collection moved to a purpose-built building in New London Road.

It was taken over by the Town Council at the beginning of the 20th century and moved to a red brick building in Victoria Road South, designed by Fred Chancellor and also housing the Library and the School of Art. The Museum collection finally came to rest in Oaklands House in 1930.