Socorro was settled in 1738 by Simão Toledo Pizza, after the local indigenous people (Carajás) left the place due to the Bandeirantes incursions. At that time, it was known as Campanha de Toledo (Toledo's Campaign), it belonged to the then-called Sertão de Bragança (Bragança's Countryside) and it had a population of 922.
     In 1839, a chapel in honor of Our Lady of Perpetual Help was built in the place where today is located the Main Church of the city. The first mass was conducted on August 9, the birthday of the municipality. However, it wasn't until 1883 that it had really become a municipality. In 1889, it became a comarca. In 1945, Fernando Costa, then governor of São Paulo, elevated it to the condition of "Estância Sanitária".