Angurugu was the site of a Christian mission operated by the Church Missionary Society. The mission was originally located on the Emerald River. It was established between 1921 and 1924 "as a place for isolating and training children of mixed descent" (i.e. part-Indigenous and part-non-Indigenous). It ceased to be a 'half-caste' mission in 1934 and was shifted to Angurugu in 1943.
In 2015, a riot broke out between two rival clans in Angurugu, involving spears and machetes. Two people were speared, and later died. Six people were later tried for the violence, including one charged for murder.