Founder Daniel Gluck wanted to start a museum dedicated to "the history, evolution and cultural significance of human sexuality.

"[1] The official mission of the Museum of Sex is "to preserve and present the history, evolution, and cultural significance of human sexuality.

"[2] The museum focuses on a variety of sexual preferences and subcultures, including lesbian and gay history and erotica, BDSM, pornography, and sex work.

[4] Unlike restrictions placed on adult entertainment venues, New York City authorities have allowed the museum to locate itself within 500 feet of a church or school.

Other exhibitions have included Sex Among the Lotus: 2500 Years of Chinese Erotic Obsession; GET OFF: Exploring the Pleasure Principles; Vamps & Virgins: The Evolution of American Pinup Photography 1860-1960; Men Without Suits: Objectifying the American Male Body; and an online exhibition US Patent Office Sex Inventions.