The magazine originally centered on highway design, construction, and maintenance, but in 1962, editor Frank Lively began adding stories about history and travel.

The publication was originally an internal resource for the Texas Highway Department.

[2] The first issue was dedicated entirely to Native Americans in Texas, despite the opposition from the director of the Travel and Information Division at the time, who claimed "...never to devote an entire issue to one subject.

Since 2010, Texas Highways has won 75 awards for editorial and design excellence.

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