Plainsboro Township E.M.S. was started in March of 1995 to help supplement the Volunteers of the Plainsboro Rescue Squad during the hours of 8:00 a.m. to 4:00 p.m. Monday through Friday.

In August of 2002, the department's hours were expanded to 6:00 a.m. to 6:00 p.m. Monday through Friday and a third E.S.T. was hired.

As well as responding to Medical Emergencies the E.S.T.'s are also trained as 911 Operators and CPR instructors. The department also assists with the Township Emergency Management responsibilities.