Several methods have been applied to measure health care accessibility, i.e., the Euclidean distance, the network distance, and the transport time based on speed limits. However, these methods generally produce less accurate estimates than actual measurements. This research proposed a method to estimate historical health care accessibility more accurately by using taxi Global Positioning System (GPS) traces. The proposed method’s advantages were evaluated vis a case study using acute myocardial infarction (AMI) cases in Beijing in 2008. Comparative analyses of the new measure and three conventionally used measures suggested that the median estimated transport time to the closest hospital with percutaneous coronary intervention (PCI) capability for AMI patients was 5.72 min by the taxi GPS trace-based measure, 2.42 min by the network distance-based measure, 2.28 min by the speed limit-based measure, 1.73 min by the Euclidean distance-based measure; and the estimated proportion of patients who lived within 5 min of a PCI-capable hospital was 38.17%, 89.20%, 92.52%, 95.05%, respectively. The three conventionally used measures underestimated the travel time cost and overestimated the percentage of patients with timely access to health care facilities. In addition, the new measure more accurately identifies the areas with low or high access to health care facilities. The taxi GPS trace-based accessibility measure provides a promising start for more accurately estimating accessibility to health care facilities, increasing the use of medical records in studying the effects of historical health care accessibility on health outcomes, and evaluating how accessibility to health care changes over time.