Ambulance service in Audrain County was provided by funeral homes until 1975 when the Missouri Legislature requirement that all ambulances have equipment and trained personnel became too expensive for most funeral homes. An attempt to form an ambulance district that was county wide, with the exception of Cuiver Township (Van-Far Ambulance District) failed by less than 80 votes in October 1975.
Audrain Medical Center provided emergency ambulance service after the failure to form an ambulance district. Eventually both emergency and transfer services were provided by AMC.n September 2007 AMC began the process of forming an ambulance district. The necessary signatures were gathered and the election to form an ambulance district with the same boundaries as the Mexico School District was successful in June 2008. The district directors were elected in August and the board was organized on August 27, 2008. A levy of 30 cents per $100 evaluation was set.
R-6 School District and the existing Audrain Ambulance District approved the annexation to the existing ambulance district in April 2009.