James Cook, RN named the river in 1770 after he was forced to beach his ship, HMS Endeavour, for repairs in the river mouth, after damaging it on Endeavour Reef.
James Cook, RN menamai sungai tersebut pada 1770 setelah ia terpaksa melabuhkan kapalnya, HMS Endeavour, untuk perbaikan di mulut sungainya, setelah terbentur di Karang Endeavour.