In the turbulent political times of the 15th century, the ruler of Marwar, Rao Jodha was advised by a saint to establish an impregnable head-quarter, and so the Mehrangarh Fort was built atop a steep hill. This formidable hilltop fort is one of the finest in India, both from the defense point of view, approached as it is by a series of seven gateways set at an angle so that the enemy could not attack it with any success.

Stepping inside the fort, the visitor is transported to another world of huge courtyards and palatial apartments displaying exquisitely latticed windows. Carved panels and porches adorn windows and walls of the palaces built over 5 centuries of bristling history. Today, managed as a museum by the Trust that maintains it, only some of palaces are open to all visitors. These include Moti Mahal with its pierced screen windows overlooking the coronation seat of Marwar's rulers, Jhanki Mahal, from where the zenana (women of the royal household) would watch the court proceedings, the royal Darbar Thakht (throne room), and the Rang Mahal where the Maharaja would play Holi with his zenana. Also noteworthy are Phool Mahal, Umaid Vilas and Maan Vilas. A large tent captured in battle from the Mughals is also displayed.

Preserved in these palaces is a collection of musical instruments, palanquins, royal costumes, the coronation seat, furniture's and formidable cannons on the fort's ramparts.