Remains of Fukuisaurus were discovered in 1989, in Katsuyama, Fukui Prefecture, in rocks from the Kitadani Formation, dating to the Barremian. The type species, Fukuisaurus tetoriensis, was described in 2003 by Yoshitsugu Kobayashi and Yoichi Azuma. The genus name refers to Fukui; the specific name to the geological Tetori Group.
The discovery of Fukuisaurus fossils in Katsuyama, Fukui Prefecture, Japan, within rocks from the Kitadani Formation, dating back to the Barremian period, led to the formal description of the type species, Fukuisaurus tetoriensis, by Yoshitsugu Kobayashi and Yoichi Azuma in 2003. The genus name honors Fukui, while the specific epithet is derived from the Tetori Group, a geological formation.