Coro is the capital of Falcón State and the second oldest city in Venezuela (after Cumaná). It was founded on July 26, 1527, by Juan de Ampíes as Santa Ana de Coro. It was historically known as Neu-Augsburg (from 1528 to 1546) by the German Welsers, and Coro by the Spanish colonizers and Venezuelans, the city and buildings were built during the Spanish Empire. It is established at the south of the Paraguaná Peninsula in a coastal plain, flanked by the Médanos de Coro National Park to the north and the Sierra de Coro to the south, at a few kilometers from its port (La Vela de Coro) in the Caribbean Sea at a point equidistant between the Ensenada de La Vela and Golfete de Coro.

It has a wide cultural tradition that comes from being the urban settlement founded by the Spanish conquerors who colonized the interior of the continent. As Neu-Augsburg, it was the first German colony in the Americas under the Welser family of Augsburg (from 1528 to 1546). It was then the first capital of the Spanish Captaincy General of Venezuela (1546–1578) and head of the first bishop founded in South America in 1531. The precursor movement of the independence and of vindication of the dominated classes in Venezuela originated in this region; it is also considered to be the cradle of the Venezuelan federalist movement in the republican era.

Thanks to the city's history, culture and its well-preserved Colonial architecture, "Coro and its port La Vela" was designated in 1993 as a World Heritage Site by UNESCO. Since 2005 it is on the UNESCO's List of World Heritage in Danger.

At its founding the town was called Santa Ana de Coro (there is now an unsuccessful campaign to reinstate the colonial name of the city) in the Spanish style that named new cities in America according to the Catholic calendar, accompanied by a name of Indian origin. According to the tradition the word coro derives from the Caquetio word curiana, meaning "place of winds". However, according to the authoritative DRAE Spanish dictionary, the word coro in its second meaning means "wind of the northwest", and comes from the Latin caurus.^{[citation needed]}

The city was founded on July 26, 1527, by Juan Martín de Ampués, with the name of Santa Ana de Coro. Ampíes covenanted to respect the authority of the Native chief Manaure highest authority of the natives of the region, the Caquetio people, This covenant is broken abruptly in 1529 with the landing at the city's first Governor and Captain General Ambrosius Ehinger representing the Welser, an Augsburg banking and trading family. The family received the Province of Venezuela (as Klein-Venedig) from the emperor Charles V for exploration, founding cities and exploitation of the resources of this vast territory that stretched from Cabo de la Vela (Guajira Peninsula) to Maracapana (near the city of Barcelona, Anzoátegui). From Coro emerged multiple expeditions to the Venezuelan and Colombian Llanos, the Andes and the Orinoco River in search of El Dorado, which allowed the conquerors to explore these vast territories. The government of the Welsers ends in 1545 for breach of contract and conflict of interests between them and the Spanish conquistadors who explored the territory from other focal points of the Spanish Empire in America. The city is in its early days a "beachhead" or outpost of the Spanish during the conquest and colonization in the western and central Venezuela. From them left the expeditions of exploration and founding of new towns.

Santa Ana de Coro lost the political capital of the Venezuela Province (also known as the Coro Province in official documents of the time) in 1578 to Caracas, motivated by repeated invasions of pirates (the Preston–Somers expedition was one) and especially to the harshness of its climate. Finally it was no longer the seat of the bishopric in 1636.

During the seventeenth century Coro was hit by a hurricane and invasions of pirates, to the point where it appeared in the charts of English and French of the time with the title of "destroyed." However, these calamities left intact the countryside, with its productive power, which allowed it to recover slowly. Thus, in the late 18th and early 19th century reaches its colonial peak. Precisely from this period are the best preserved civilian buildings in the city.

In 1795 a slave uprising occurs, and generally dominated social classes in the Sierra de Coro, led by the free zambo José Leonardo Chirino, which was aimed at the elimination of slavery and the establishment of the republican regime known for the time as "the French law". The movement, which would be the forerunner in the independence process would end in defeat, the capture and killing of rebel leader.