The square began as an open space^[1][2][3] on John Septimus Roe's original town plan of Fremantle, drawn in 1833.^[1] In 1839, property owners around the square petitioned the State Governor for a church to be built in the square.^[2] This was approved in 1840,^[2] and construction works began with the foundation stone being laid on 6 April 1842.^[3][4] Saint John's Church of England opened on 4 August 1843,^[5][6] and was consecrated on 16 November 1848.^[6]

In 1876, the church applied to the Fremantle City Council for a strip of land, adjacent to the church wall, to be granted to the Church of England, for the purpose of building a new church on the site and to improve the amenity of Kings Square.^[7] In this application, all of the land in Kings Square was claimed to have been previously granted to the Church of England,^[7] though in later years this was seen to be controversial.^[2][3][8] This application was refused, as the strip was used for storing and preparing stone (for use in road works), and some councillors believed the church had enough land already.^[7] One year later, the church made a second proposal, offering the council the south-western corner of the square, and a right of way for the extension of High Street through the square, in return for the strip of land and 500 pounds.^[9] The council accepted, subject to minor modification.^[9]

The new church was constructed and consecrated in 1882.^[10] It was funded in part by sale of the south-western corner to the Fremantle Council, and the sale of south-eastern portion, which was divided into lots.^[8][10] The council constructed the Fremantle Town Hall on the site it had purchased, between 1885^[11] and 1887,^[12][13] whilst private enterprises constructed buildings in the south east of the square during the 1880s.^[8] These building were later demolished in 1929 to make room for an extension to the town hall.^[8] In 1881, High Street was extended along the right of way through Kings Square.^[14]

In the 1960s, Kings Square was reinstated as a town square with the closure of High Street, between Queen Street, at the eastern edge of the square, and Market Street, 100 metres (330 ft)^[15] west of the square.^[2] This was carried out as part of a traffic management plan for Fremantle, which included turning the streets around the square into a one way rotary.^[2]

In July 2021, the name Kings Square was formally changed to Walyalup Koort following approval of the new name by the Minister for Lands.^[16] The new name, which means 'Heart of Fremantle' in the local Whadjuk Nyoongar language, was selected by Fremantle Council in June 2021 following a community engagement process.^[17] The name changed occurred despite community opposition and a written submission from the Fremantle History Society stating that they did not support the renaming of this historical site.^[18]

Walyalup Koort is now a paved and landscaped civic centre of Fremantle.^[19] As well as the church and town hall, the square also features a giant chess board, various public artworks, and facilities such as toilets,^[20] seating, and children's play equipment.^[19] Cultural events take place in the square, including movie, music, and arts festivals,^{[21][22][23][24][25][26]} as well as group activities such as yoga^[27] and drum circles.^[28]

Public artworks and statues on display in Walyalup Koort include:^[29]

• Pietro Giacomo Porcelli (1993) – sculptor Greg James
• Hughie Edwards statue and seat (2002) – artist Andrew Kay
• Chess table and chairs – artist Coral Lowry
• John Curtin (artwork alongside the Town Hall building) – artists Charles Smith and Joan Walsh Smith
• Tom Edwards Memorial (1919) – sculptor Pietro Giacomo Porcelli

32°03′14″S 115°44′54″E / 32.0539°S 115.7483°E / -32.0539; 115.7483