Early Indians knew it marked the last of the rapids on the Columbia River and the beginning of tidal influence from the Pacific Ocean, 150 miles away.

Lewis and Clark, first white men to see the rock camped at its base and gave it its present name.

In 1811, Alexander Ross, of the John Jacob Aster expedition, called the rock Inshoack Castle, and it was known as "Castle Rock" until the United States Board of Geographic Names officially restored the title of "Beacon Rock", in 1961.