The college was founded on the Lutheran Theological College campus in Rajahmundry and the founding societies included the Andhra Evangelical Lutheran Church, the Church of South India, the Convention of Baptist Churches of Northern Circars, the Methodist Church in India and the South Andhra Lutheran Church. The Samavesam of Telugu Baptist Churches held its B.D. classes at ACTC in 1967, and in 1972 the B.D. programme of the Ramayapatnam Baptist Theological Seminary was integrated into the college. When M. Victor Paul was principal (1991-1993), Good Samaritan Evangelical Lutheran Church joined the college.