The Ranas of Mewar trace their ancestry back to the Sun and ruled from their seventh century stronghold at Chittorgarh. Udaipur was founded in 1568 by Maharana Udai Singh II after the final sacking of Chittorgarh by the Mughal Emperor Akbar. According to legend Udai had been scouting around for a new capital for some time, since Chittor was so easily sacked. He came across a holy man near Lake Pichola. The man advised Udai to set up his capital on that very spot, and that is how Udaipur came into being.

On first appearance Udaipur seems to be a mistake - Chittorgarh seems far more impregnable. But surrounded by forests, the impregnable Aravalli range and its forests, it was a good decision.

Udai Singh died in 1572 and was succeeded by his son Pratap. Akbar attacked Udaipur and in a do-or-die that has gone down in history, Pratap valiantly defended Udaipur in the Battle of Haldighati in 1576.

Unlike most other rulers in Rajasthan, the Mewar dynasty never bowed down to the Mughals or any other invader, a fact they are still proud of today. After the Mughals, the city thrived for 150 years and arts and culture, architecture and town planning flourished. Then came the Marathas and a period of unrest and finally the British. Udaipur signed a treaty with the British who pledged to protect Udaipur from invaders. When India gained Independence, the kingdom acceded to the republic.