Bacoor became a town in 1671, two years after the influx of the first settlers from the bustling public of Parañaque or Palañag, the ancient Tagalog name. In fact, Bacoor used to be a part of Parañaque, separating the latter from the two big neighboring towns of Cavite el Viejo (now Kawit) and Silang.

The name Bacood (derived from the Tagalog word bakod, meaning fence) is suggestive of its role as a suburb of Parañaque, constituting the boundary between the mother town and Cavite el Viejo. In early Spanish times, Bacood was thickly covered with bamboo groves running from Sitio Zapote to Sitio Talaba. The first settlers of Bacoor (modernized spelling of the original name) bore such family names as Cuenca, Bauan, Farolan, Pagtakhan, de Ocampo, Gregorio, Guevarra and Garcia. The first Municipal President of Bacoor, Felix Cuenca, was a direct descendant of one of the original settlers.