The name Taraguilla appeared for its first time in 1582.
This place may have been where one of the Roman roads included in the so-called "Antonine Route" was situated.
The village now is strongly linked to the frequent floods that occurred in Estación de San Roque before that Guadarranque Reservoir was built.
Campamento was founded due to the Great Siege of Gibraltar in 1782. At this place the Spanish forces established an important military camp to attack the Rock, which gave place to its present name.
It was always closely linked to Gibraltarian Companies and this is why a race course was built here in 1916 by the Andalusian Horse Racing Company.