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.

A pothole on a ridge above the Boree Track with carved water channels, which was also used by European settlers who carved their initals and a horse into the rock.
A deeply spiritual Aboriginal rock art site located along the Boree Track, Devils Rock or Burragurra has over a hundred engravings. They include deity figures, the spirit footprints of Baiame and over fifty bird tracks.
A large and very sheltered camping cave along the Boree Track, which contains over 50 Aboriginal rock art motifs (including a large kangaroo, deity figure and a possible contact motif).
An Aboriginal rock art shelter near Devils Rock, which contains an impressive gallery of charcoal and red ochre figures.
A small group of Aboriginal engravings near Devils Rock; one of the sites has three men and a boomerang.
The signposted Finchley cultural walk provides access to the Finchley Aboriginal Site, considered one of the best Aboriginal engraving sites in Australia.
Three Aboriginal hand stencils (two of them quite weathered) in a shelter below Finchley Campground in Yengo National Park.
A small shelter with Aboriginal art near the Finchley Campground; it has three white outline figures on the ceiling.
One of the significant and complex Aboriginal engraving sites along the Boree Track, Frying Pan Rock has over 130 figures. The site probably depicts one or more hunting scenes, and includes 12 kangaroos (two of them speared) as well as many other animals.
A long sandstone shelter in the MacDonald River area of Yengo National Park, which has some weathered charcoal art.
A shelter with Aboriginal rock art in a gully near Jacks Track, which has over 50 motifs. They include drawings in charcoal, white and red ochre, and hand stencils.
An impressive Aboriginal rock art gallery in a tall but shallow shelter near Jacks Trail. Most of the art consists of charcoal figures, with some red ochure figures and faint hand stencils.
A long and deep shelter above Little Boree Creek, which contains over twenty figures including a large kangaroo and arm stencil.
A complex Aboriginal art shelter in the Mellong Range, which has multiple stencils including hands and a boomerang and human figures in charcoal and white ochre.
A deep and protected Aboriginal rock art shelter containing 40 motifs. The figures include two red ochre anthropomorphs connected by a line.