Estádio Dom Afonso Henriques, previously called Estádio Municipal de Guimarães, was inaugurated in 1965.
The stadium underwent a first major redevelopment in 1991 in preparation of the sub-21 World Cup. Twelve years later, it got further expanded and renovated for the Euro 2004 Championships.
The redeveloped Estádio D. Afonso Henriques reopened on 25 July 2003 with a friendly match between Vitória and Kaiserslautern.
During the Euro 2004 tournament, the stadium hosted two group matches.
Guimarães Bus Station is a 7-minute walk from D. Afonso Henriques Stadium.