This fort and it's palaces were built between 1588-1593 by raja Raj Singh, a general in the army of the Mughal emperor Akbar. It has a 96 mt long wall, with 37 bastions and 2 entrances. The main entrance of the fort is Suraj pol or sun gate.

The fort encompasses many palaces amongst which the most spectacular ones are the Chandra Mahal or Moon palace, the Phool Mahal or Flower palace, both ornated with carved panels and mirrors and the Karan Mahal.

Karan Mahal was built in remembrance of the celebration of the grand victory over Aurangzeb. Durga Niwas, a fabulously painted courtyard and Ganga Niwas which housed a finely carved red sandstone front, are the other places of attraction in this fort.