Abstract Prehistoric rock art paintings, specifically rock-shelters exposed to environmental and anthropogenic factors, are usually faint and severely damaged, being them difficult to identify and understand by visitors. Augmented Reality (AR) supplements reality with virtual information superimposed onto the real world. This sensor-based technology in smartphones/tablets can improve the paintings experience displaying the 2D digital tracings overlapped onto the real scene (rock with faint paintings). This paper presents an AR application (app) developed in Cova dels Cavalls that shows a recreation of a possible original composition full of motifs with descriptive information to improve current guided tour user experiences. This case study aims to evaluate the rock art AR app targeting non-expert visitors as a means of improving rock art knowledge and sensibility of a fragile archaeological UNESCO Work Heritage site. To achieve this, a variety of participants with different backgrounds and interests tested the AR app on site and answered a complete questionnaire about the use of AR mobile apps. Overall, the results showed great acceptance of this AR app, mainly because in addition to adding new information interactively, it helps to identify the rock art motifs, as well as to recognise them quickly, improving their understanding.