Colonel George Ware Fulton and Harriet Gillette Smith began building the 4 story structure overlooking Aransas Bay in 1874 and finished in 1877.

The residence, dubbed "Oakhurst" by its owners George & Harriet, featured the most up-to-date conveniences for the time, such as indoor plumbing reaching sinks in every bedroom, gas lighting and central heating, along with three bathrooms and two built-in copper tubs.

Felix and Gladys Boldin bought the property in the early 1960s and continued to run the RV park, selling it in 1969 to the Copelands, who also ran the RV park until Mr. Copeland died in 1974.

When the State of Texas purchased the mansion and 2.3 acres (0.93 ha) it was restored and opened to the public in 1983.

On January 1, 2008, Fulton Mansion was transferred from the Texas Parks and Wildlife Department to the Texas Historical Commission and is now operated as the Fulton Mansion State Historic Site.