Stephen Headland was discovered by Miguel Castillo y Espada around 1775. Though not entirely proven, it is quite possible this was true. It was only until the 1890s that the peninsula was charted onto the history books, when it was named after Founding Father Stephen Robinson shortly after his death. In 1896, Hawaiian-American businessman Charles H. Morgan began the Morgan Plantation along its north shore; this would eventually lead to the establishment of the village of Charleston.