Established as Burleson in the 1850s, the name was changed with the creation of Lampasas County, and the town became the county seat. Sulphur springs, popular among Native Americans long before white settlers arrived, still flow about half a mile from town center. Downtown buildings feature local limestone construction; several have been restored. Most were originally built in the 1880s. The recently restored courthouse is in the National Register of Historic Places. The Keystone Hotel was an early Texas landmark-stagecoach stop.
Hunters find white-tailed deer, wild turkey, quail and mourning dove, as well as excellent fishing in local creeks, and Lampasas and Colorado rivers.
Hancock Park, a 109-acre municipal facility, includes Hancock Springs, the source of water for public baths a century ago.
Lampasas lies on U.S. 190, a segment of the Ports-to-Plains Highway connecting the state's heartland to coastal ports.