The area was the habitat of the Coast Miwok people for several thousand years before the arrival of Europeans.

Most of Point Reyes remained undeveloped because of its remote location; the main part of the peninsula hosts a number of agricultural uses, particularly dairy operations.

Some of the beach areas on Tomales Bay began to be purchased by private parties, and in order to secure public access to the Bay, conservation groups and the state of California also purchased property, and the state park was opened on November 8, 1952.

Only Heart's Desire is reachable by road, and has two parking areas, picnic grounds, and rest rooms.

Tomales Bay State Park was one of 48 California state parks proposed for closure in January 2008 by California's Governor Arnold Schwarzenegger as part of a deficit reduction program.