[5][6] The cave system was "discovered" in 1958 and was first documented in the 1973 book Discovery at the Río Camuy (ISBN 0-517-50594-0) by Russell and Jeanne Gurnee, but there is archaeological evidence that these caves were explored hundreds of years ago by the Taíno Indians, Puerto Rico's first inhabitants.

After restorations necessitated by Hurricane Maria, a destructive storm that struck Puerto Rico in 2017, the park re-opened on March 24, 2021.

The tours start with the screening a short movie in a 90-seat theater, explaining the Rio Camuy Cave System and site safety rules, followed by a train ride that takes visitors into the entrance of Clara Cave.

[11] Once inside this chamber, visitors are able to see an entrance from the roof of "Sumidero de Empalme" that is 60m from the surface, as well as stalactites, stalagmites, unique formations and thousands of bats.

Only experienced spelunkers can penetrate the cave and the underground river with special permission from the National Parks Company of Puerto Rico.

The Camuy River can be seen 400 ft (120m) below from three observation platforms that are located at different points alongside the opening of the impressive crater.