It was constructed to defend the newly settled community of Yuma, New Mexico Territory, located on the other side of the Colorado River, and the nearby Mexican border.

A ferry service, maintained by the soldiers for the survey party's convenience, also accommodated emigrants.

Established by Captain Samuel P. Heintzelman, 2nd Infantry Regiment, the fort was originally named 'Camp Independence.

'[4] In March 1851, when the post was moved to its permanent site, its name was changed to Camp Yuma.

Steamboats continued to supply the fort and later settlements on the Colorado River in this way until the arrival of the railroad in 1877.

Only one military action occurred at the fort when Yuman warriors surrounded it during the Yuma War, temporarily trapping the future general Thomas William Sweeny and a few others.

From 1858 to 1861 the Butterfield Overland Mail had a stagecoach station near the fort, that was subsequently used by other stage lines until the advent of the railroad in 1877.

During the American Civil War, the Union retained control of Fort Yuma when the First California Infantry replaced Regular Army soldiers sent East in December 1861.

There was no battle action at the fort since the western United States was far removed from the Civil War.

The depot was used by the Army to store and distribute supplies for all military posts in Arizona, Nevada, Utah, New Mexico and Texas during the Indian War period.

Supplies were brought from California by ocean vessels traveling around the Baja Peninsula to Port Isabel near the mouth of the Colorado River.