 PA 934 was first designated in 1928 to run from US 22 (now US 422) in Annville north to Bellegrove.By 1946, the southern terminus was extended to US 322/PA 241 while the northern terminus was extended to US 22 and PA 343.The northern terminus was extended to PA 72 in Lickdale in 1963 and realigned to PA 72 and PA 443 within the Edward Martin Military Reservation in the late 1960s.