A concert in Chicago's Lincoln Park circa 1907.
The predecessors to urban parks in the United States were rural cemeteries. The cemeteries were intended as civic institutions designed for public use. Before the widespread development of public parks, the rural cemetery provided a place for the general public to enjoy outdoor recreation amidst art and sculpture previously available only for the wealthy.[9]

In The Politics of Park Design: A History of Urban Parks in America, (Cambridge, Massachusetts: MIT Press, 1982), Professor Galen Cranz identifies four phases of park design in the U.S. In the late 19th century, city governments purchased large tracts of land on the outskirts of cities to form "pleasure grounds": semi-open, charmingly landscaped areas whose primary purpose was to allow city residents, especially the workers, to relax in nature. As time passed and the urban area grew around the parks, land in these parks was used for other purposes, such as zoos, golf courses and museums. These parks continue to draw visitors from around the region and are considered regional parks, because they require a higher level of management than smaller local parks. According to the Trust for Public Land, the three most visited municipal parks in the United States are Central Park in New York, Lincoln Park in Chicago, Mission Bay Park in San Diego.[10]

In the early 1900s, according to Cranz, U.S. cities built neighborhood parks with swimming pools, playgrounds and civic buildings, with the intention of Americanizing the immigrant residents. In the 1950s, when money became available after World War II, new parks continued to focus on both outdoor and indoor recreation with services, such as sports leagues using their ball fields and gymnasia. These smaller parks were built in residential neighborhoods, and tried to serve all residents with programs for seniors, adults, teens and children. Green space was of secondary importance.

As urban land prices climbed, new urban parks in the 1960s and after have been mainly pocket parks. One example of a pocket park is Chess Park in Glendale, California. The American Society of Landscape Architects gave this park a General Design Award of Honor in 2006.[11] These small parks provide greenery, a place to sit outdoors, and often a playground for children.

All four types of park continue to exist in urban areas. Because of the large amount of open space and natural habitat in the former pleasure grounds, they now serve as important wildlife refuges, and often provide the only opportunity for urban residents to hike or picnic in a semi-wild area. However, city managers or politicians can target these parks as sources of free land for other uses. Partly for this reason, some of these large parks have "friends of X park" advisory boards that help protect and maintain their semi-wild nature.