It is located off U.S. Route 90, east of the Pecos River High Bridge, 9 miles (14 km) west of Comstock in Val Verde County.

The park is part of the larger Seminole Canyon Archeological District on the National Register of Historic Places.

[6] Gaspar Castaño de Sosa is believed to have been the first European to arrive in the area, during his 1591 trek up the Rio Grande and along the Pecos River, in his effort to establish Spanish colonization of New Mexico.

[7][8] During the 19th century the Black Seminole Scouts of the United States Army were stationed to the area, giving the region its name.

[9] 13,344 acres (5,400 ha) of the area was named in 1971 as the Seminole Canyon Archeological District on the National Register of Historic Places listings in Val Verde County, Texas.

Tours of the Fate Bell Shelter are conducted for the park by volunteers from the non-profit Rock Art Foundation.

Outside the entrance to the Visitors Center is The Maker of Peace, a 17-foot bronze statue created by Texas artist Bill Worrell in 1994.

[16] Seminole Canyon State Park and nearby Amistad National Recreation Area are conducive to bird watching.