When Colorado Springs filed the original town plat in 1871, it included one city block as the first city-owned park. The park, known as North Park or Acacia Square is the site of the present-day Acacia Park.

Colorado Springs' city founder General William Jackson Palmer generously donated 1,270 acres of parkland, bridle and foot paths, scenic drives and roadways planted with trees, to establish a significant foundation of the Colorado Springs park system. These gifts included Acacia (North) Park, Monument Valley Park, Antlers Park, Pioneer Square (South) Park, Palmer Park, North Cheyenne Cañon, Prospect Lake and Bear Creek Cañon.