Situated near Kishore Sagar, Brij Vilas Palace Museum; a small museum run by the government, is housed in the Brij Vilas Palace. It has an excellent collection of stone idols and other sculptural fragments, mainly from the archaeological sites at Baroli and Jhalawar. Rare and exquisite coins and manuscripts from the Hadoti sclupture can also be seen here.

War plans and defence stratergy against the British, during India's struggle for independance is the highlight of the museum. Plans of the 1857 revolt and the weapons used at the time are also on display here.