Activities include camping, swimming, picnicking, hiking, mountain biking, and horseback riding on multiuse trails (contact the park about possible trail closures following wet weather). Fishing is available in Javelina Pond, which is regularly stocked with fish. There is a three-level orienteering course, and a bird and wildlife observation area. The park has a hunting program with a State Park Annual Hunting Permit and special drawing hunts for deer and spring turkey. The presence of American Indian rock art, ancient animal tracks, and majestic bison add a prehistoric touch to this park. San Angelo State Park is also home to the Official Texas State Longhorn Herd.
In addition to campsites for backpackers, tent campers, and recreational vehicles, the park also has a cabin and multiple group facilities.
Swimming at your own risk is allowed in O.C. Fisher Lake. Lake Nasworthy and Twin Buttes Reservoir offer swimming and fishing and are approximately a 10-minute drive from the park.