Yengo National Park was an important spiritual and cultural place for the Darkinjung and Wonnarua People for thousands of years, and 640 Aboriginal cultural sites are recorded in the park and nearby areas. Being a largely untracked wilderness area, many of these are difficult to access. Yengo country has one of the largest collections of rock art in Australia (and the world), and Yengo is to the sandstone country what Uluru is to central Australia.

It is said that Baiame, the ancestral being, stepped off from Burragurra to the flat top of Mount Yengo and back into the sky when he finished his creation.

The Big Yengo Tobacco Shelter is a large, deep overhang in Yengo National Park with Aboriginal rock art (charcoal drawing and hand stencils).
A small shelter along Big Yengo Creek, which has Aboriginal rock art including a star or starburst, and 16 stencils in white ochre.
Accessible by four-wheel drive (or by walking), this deeply spiritual site is located along the Boree track and includes the spirit footprints of Biame.
The signposted Finchley cultural walk provides access to the Finchley Aboriginal Site, considered one of the best Aboriginal engraving sites in Australia.
A long sandstone shelter in the MacDonald River area of Yengo NAtional Park, which has some weathered charcoal art.
Dark red ochre paintings preserved in two rock shelters on the south-eastern slopes of Mount Manning, in Yengo National Park.
A significant Aboriginal rock art site in the MacDonald River district, Spirits Cave was extensively documented by Ian Sim. The shelter contains 186 motifs, including multiple deity figures and what was thought to be a Rainbow Serpent.
A spectacular Aboriginal rock art site in Yengo National in the lower Hunter Valley, Yengo 1 has over 500 motifs including stencils, paintings and engravings as well as engravings and axe grinding grooves.
Yengo 2 is a spectacular Aboriginal rock art site in Yengo National in the lower Hunter Valley. The shelter has 94 figures, including 40 stencils and many depictive motifs.
Two adjacent shelters with Aboriginal rock art in a gully of Big Yengo Creek; they have weathered hand stencils and drawings.