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The first street to be surveyed in Cairns was The Esplanade (in October 1876). It was initially named Troughton Esplanade after the Captain Fred Troughton, Travelling Superintendent of the Australian Steam Navigation Company.
Home Â» Living in Cairns Â» Cairns History. Captain James Cook journeyed up the North Queensland coast on his first Voyage of Discovery in 1770, aboard the HM Bark Endeavour, arriving on Trinity Sunday and naming the area Trinity Bay.