The Endeavour River on Cape York Peninsula in north Queensland , Australia , was named in 1770 by the English explorer , Captain James Cook . He had been forced to put his ship , HM Bark Endeavour , onto the beach at the river mouth so that it could be repaired . The Endeavour River ( Guugu Yimithirr : Wabalumbaal ) on Cape York Peninsula in Far North Queensland , Australia , was named in 1770 by Lt. James Cook , R.N. , after he was forced to beach his ship , HM Bark Endeavour , for repairs in the river mouth , after damaging it on a reef .