Yujaku Park is named after the ricefields (yujaku-den) owned by Shiga Yoshisato, the 8th son of Otomo Yoshinao, along with a mansion he owned as lord of the manor in 1240.

The land was given to Nakagawa Heiemon, the elder of the Oka Clan in 1664 from the Oka Clan leader, Nakagawa Kiyohisa. It provided an important stop along the route known as Sankin Kotai Michi that daimyo took between their domains and Edo. It was located closest to Okajo Castle.

Heiemon proceeded to build a mansion, plant maples and pines, make two ponds (Shinji-ike and Tanji-ike) and turn the land into a place not only as a rest station on the Sankin Kotai Michi but as a beautiful scenic cottage spot.

Apparently even important literati, such as Rai-Sanyo and Tanomura Chikuden, visited the Oka clan guesthouses (okyaku-ya) and held garden parties.

Today, a maple-viewing festival is held in November, and the park is renowned as one of the best places in Okayama to see autumn leaves.