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The Texas Legislature formed Concho County from Bexar County in 1858.
In 1874, Ranald S. Mackenzie led a campaign to drive out the remaining native peoples and established the Mackenzie Trail. The county seat was formally established and named Paint Rock after the nearby pictographs. The Eden community was established in 1882. In 1909, the community of Lowake was established.
Railroads came to the county first in 1910, with the Concho, San Saba and Llano Valley railroad being completed to Paint Rock. The Fort Worth and Rio Grande Railway was completed across the southeastern corner of the county in 1911, and the Gulf, Colorado and Santa Fe railroad finished a line to Eden in 1912.
By 1930, the area had 449 owner-operated farms and 682 tenant-operated farms, of whom 619 were sharecroppers.
In 1940, Concho County became part of a soil-conservation district. In 1985, the Texas Water Commission granted permission to impound 554,000 acre-feet of water on the Colorado River at Stacy, to create the O. H. Ivie Reservoir.
In 1988, Concho County was the leading sheep-producing county in Texas.