The Vale Telheiro cave has been known to local populations for several decades, with evidence of stalactites and other speleothem formations being extracted from it. The first documented research was conducted in the 1960s by the archaeologist Isilda Martins. The cave was formed in the karst landscape of Vale Telheiro, characterised by fissured limestones shaped by the action of water. From the initial chamber, various branches extend, creating a complex progression with numerous irregular passages, uneven surfaces, and chambers, which give the cave a labyrinthine structure.

Due to its development and unique characteristics, this cave is one of the most appreciated and frequently visited by speleologists in the Algarve. It has been a popular choice for guided tours, as well as for training and educational activities. In 2016, a publication in the journal Science recognised this cave as a global hotspot for subterranean biodiversity, indicating the presence of more than 20 cave-dwelling species. Currently, over 25 cave-dwelling species have been documented in this cave, including several endemic species. Notably, the giant pseudoscorpion Titanobochica magna stands out among them.