MD 24 received its first relocation in Edgewood in the mid-1950s after assuming all of MD 408. After another relocation due to the construction of I-95 in the early 1960s, the state highway was placed on a new alignment through Edgewood in the late 1960s and early 1970s; the old alignment became MD 755. MD 24 was relocated to a divided highway from I-95 to US 1 in the late 1980s; the old highway through Bel Air became MD 924. Much of the highway through Edgewood was expanded to a divided highway in the mid-1990s. MD 24's interchange with MD 924 was constructed between 2008 and 2011.