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The first Europeans to traverse the area were Burke and Wills on their epic, and ultimately fatal, transcontinental expedition. The Cloncurry River was named by Burke after Lady Elizabeth Cloncurry, his cousin, with the town eventually taking its name from the river.
Copper was discovered in the area in 1867, and the town sprang up to service the Great Australia Mine to the south. Cattle grazing is the significant industy in the region, and a large saleyards is located in the townThe first ever flight of the Royal Flying Doctor Service of Australia took place from Cloncurry on May 15, 1928, using a DH50 aircraft hired from the then small airline, Qantas. A Royal Flying Doctor Service museum is situated in the town.
Cloncurry holds the record for the highest temperature recorded in Australia at 53.1 deg. C. in January 1889.