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On the northern bank of Espírito Santo Estuary of Delagoa Bay, an inlet of the Indian Ocean, Lourenço Marques was named after the Portuguese navigator who, with a companion ( António Caldeira ), was sent in 1544 by the governor of Mozambique on a voyage of exploration.

They explored the lower courses of the rivers emptying their waters into Delagoa Bay, notably the Espírito Santo.

The various forts and trading stations which the Portuguese established, abandoned and reoccupied on the north bank of the river were all called Lourenço Marques.

The existing town dates from about 1850, the previous settlement having been entirely destroyed by the natives.

The town developed around a Portuguese fortress completed in 1787.