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.

An enormous sandstone shelter in the Bala Range, which has over forty figures in charcoal and red ochre. They include two anthropomorphs which are over two metres tall, and a number of animals.
An Aboriginal engraving of a large eel (or rainbow serpent) and several bird tracks on a ridge off the Bala Range Trail.
A small and shallow shelter with Aboriginal rock art below a ridge off the Bala Range Trail.
A rock platform near the Boree Track which has an engraving of a woman (in profile) and numerous axe grinding grooves.
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.
A long but very low shelter in the Big Yango Precinct, which contains 22 tally marks engraved in the sandstone.
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.
An Aboriginal engraving site near the Boree Track with a large Baiame figure, man and speared echidna.
A low shelter along the Boree Track with Aboriginal drawings of men and women in charcoal.
A large rock platform above the Boree Track which has several engravings, including a large emu, two spirit figures and a line of mundoes.
A long, tunnel-like shelter, Carrolls Cave has over 80 Aboriginal hand stencils, as well as stencils of stone axes and spears. Above the shelter are a mundoe and kangaroo engraving.
A number of weathered engravings on a rock platform near the Boree Track, which includes a Daramulan figure.
An Aboriginal rock art shelter with multiple panels containing figures drawn in charcoal art, which are the remnants of a large frieze.