Planning for the project began in 1991 when the Wisconsin State Legislature directed the Department of Natural Resources (DNR) to study the feasibility of creating a park next to Milwaukee County Stadium.

Input from local stakeholders, such as a recommendation by then-mayor John Norquist's Bicycle Task Force to develop an east-west trail through the Menomonee Valley,[4]: 61  led to the project focus changing toward creating a multi-mile urban greenway along the Menomonee River.

A report by the DNR suggested that developing the trail would help remediate over a century of industrial pollution of the river, meet demand for more public open spaces, and reverse the effects of inner-city abandonment.

[4]: 61  Original plans called for the trail bordering the southern side of the Menomonee River between 26th Street and American Family Field, crossing the Canadian Pacific Railway Muskego Yard,[5]: 10  but in 2003, officials began to consider having the trail border an extension of Canal Street in this section.

[6] By August 2006, the trail stretched from Lakeshore State Park in the east to American Family Field in the west, with a length of roughly five and a half miles (8.9 km).

[12] In 2018, the compacted gravel section of the trail west of 94th Place was paved as part of reconstructing of the Zoo Interchange.

[21][22] Three copper streetcar shelters, originally constructed by the City of Milwaukee in 1929 and used on the 16th Street Viaduct, were refurbished at a cost of $120,000 to become resting areas and information kiosks.

The Civil Rights River Loop Murals share quotations from Chief Joseph and Benito Juárez while teaching about the open housing racial justice protests led by James Groppi nearby in the late 1960s.

"[1] At the dedication ceremony, Hank Aaron spoke to how honored he was to have the trail named after him and hoped future generations would see how much being welcomed by the people of Milwaukee meant to "a young baseball player so many, many years ago."

When informed about progress on developing the trail, he expressed pleasure at the number of children and diverse neighborhoods that would have access to it.