The historical figure known for developing the theory of evolution is Charles Darwin. Originating from England, Darwin is best known for his work "On the Origin of Species," published in 1859, where he proposed the concept of natural selection as the mechanism behind evolution. His observations during the voyage on the HMS Beagle, particularly in the Galapagos Islands, led him to understand how species adapt over time to their environments. Darwin's theory challenged contemporary views on species creation and influenced myriad scientific disciplines, fundamentally altering the understanding of biology. His contributions remain significant in evolutionary biology, genetics, and ecology.