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This app's icon looks like an orange fox wrapped around a blue globe. It's in the top-right corner of the screen. Doing so prompts a drop-down menu. You'll find this beneath a gear-shaped icon in the drop-down menu. This is in the middle of the "Privacy" group of options. If the slider to the right of "Browsing History" isn't orange, tap it before continuing. You can tap other sliders on this page to select items like "Cache" and "Cookies" for deletion. It's near the bottom of the Clear Private Data window. Doing so clears your Firefox browsing history from your iPad.
Open Firefox. Tap . Tap Settings. Scroll down and tap Clear Private Data. Make sure the "Browsing History" slider is orange. Tap Clear Private Data. Tap OK when prompted.