Arbor Oaks Bible Chapel began in 1984 as "Asbury Road Bible Chapel." Christians living in the Dubuque community, along with some of the people of Emmaus Bible College, began to meet together in a fellowship along the lines of early New Testament churches, making use of the facilities of Emmaus Bible College for services and Sunday school classes.

In 2003, after some nineteen years, the group moved into its own new building at 2843 JFK Road, adapting quickly and thankfully to the new quarters. In keeping with the new community, the congregation decided to adopt a new name, "Arbor Oaks Bible Chapel," while preserving all the other distinctive qualities that have influenced people to accept Jesus Christ as Savior, to grow as believers, and to serve the Lord together.