Centuries before the Spaniards arrived in California, Native Americans once made their campsites in the area now known as Rancho Bernardo. Today, there are several massive boulders that are covered with pictographs and hollows in the rocks. The trail that led the Native Americans from the ocean coast to Rancho Bernardo can still be traced today.

The first recorded landowner in the San Bernardo area was Captain Joseph Sevenoaks, an English seafarer who settled in California in the early 1800s. Sevenoaks became a Mexican citizen and was known as Don Jose Francisco Snook, and his ranch was the site of the Battle of San Pasqual. During this time, troops under the command of Mexican Governor Pio Pico were fighting to keep California from becoming a part of the United States. In the eastern part of the Rancho, Federal troops led by United States General Stephen Kearny met Pico’s troops for the famous battle. Kearny’s troops were ambushed by Pico’s troops as they retreated from the rancho and headed towards San Diego. The remnants of Kearny’s troops stopped at the deserted Snook Rancho, where they replenished their supplies and rested before retreating towards San Diego.

Residents of what was known as the "Butterfield State" once used the village of Bernardo as a prime stopping point. This was a desired resting place for travelers who passed between San Diego and Escondido. Over the years, Rancho Bernardo became associated with several prominent San Diegans, including James McCoy, Colonel Ed Fletcher, William Henshaw and Lawrence and Donald Daley.

It was the Daley family who officially formed Rancho Bernardo, Inc. in 1961. Several years later, the Daley family sold the land to AVCO Community Developers. AVCO went on to develop the planned community of today, building Rancho Bernardo homes, residential areas, small industry parks, shopping, green belts, clubs, and golf courses.

Today, Rancho Bernardo homes are dispersed among the communities of Bernardo Heights and the beautiful new community of 4S Ranch. Each area of Rancho Bernardo has its own Community Center, to which all residents are required to support and maintain membership. Today, more than 45,000 residents call Rancho Bernardo home. The town plaza features several small businesses and service industries, such as banks, law offices, real estate offices and other staples of a community, and a thriving Business Park is located nearby.