After the officially foundation on October 6, 1690 by fray Manuel de Alesson, under the invocation of Our Lady of the Rosary of Cúa, the first inhabitants came from different regions motivated by the agriculture, due to the fertility and strategic location of the valley.

However, this town was founded initially at the site known like Marín in 1633, this first village was destroyed in its totality by a violent earthquake that affected a great part of the Tuy Valleys.

Others affirm that its name is associate with Apacuana, a brave native woman from the region, that fought against the Spaniards.

Others think that that name was giving in honor to the native Cue, ally of the Spaniards, that helped in the foundation and consolidation of the town.

The mayor of the Urdaneta Municipality is Jorge H. Castro, re-elected on October 31, 2004 with 42% of the vote.