Boonesborough or Boonesboro is an unincorporated community in Madison County, Kentucky, United States. Founded by famed frontieā¦Boonesborough or Boonesboro is an unincorporated community in Madison County, Kentucky, United States. Founded by famed frontiersman Daniel Boone in 1775 as one of the first English-speaking settlements west of the Appalachian Mountains, Boonesborough lies in the central part of the state along the Kentucky River and is the site of Fort Boonesborough State Park, which includes the Kentucky River Museum. The park site has been rebuilt to look like a working fort of the time that Boone resided there.