The first known bone from Serendipaceratops, an ulna (lower arm bone), was in 1993 discovered in Australia near Kilcunda, on the south-east coast of Victoria. The find took place during the "Dinosaur Cove" project, uncovering remains at the basis of a cliff face at the shoreline; the fossil was excavated in the "Arch", a small area of sea-floor protected from the waves by a dam. Serendipaceratops is known only from its holotype NMV P186385, a single left ulna found in the Wonthaggi Formation, dating from the early Aptian, in 2003 considered to have been about 115 million years old.