Dungarpur was founded in 1258 AD by Rawal Veer Singh, the eldest son of Karan Singh, the ruler of Mewar, after he drove out the local Bhil chieftain named Dungariya. Later rulers of Dungarpur added to the town’s architectural heritage.
Dungarpur became famous under the Guhilot Ahara Suryavanshi Rajputs, who trace their ancestry from the elder branches of the main lineage at Chittorgarh. The cousins came together to fight the historic battle against the invaders. Towards the end of the 12th century, Samant Singh, the eldest son of the ruler of Mewar, had to leave Mewar in favour of his younger brother Kumar Singh. Samant Singh drifted into the hilly area of Bagar and, within the next century, Samant Singh successors controlled the whole province of Bagar. Rawal Udai Singh of Bagar was killed at the battle of Khanua in 1527, fighting for Mewar against Mughal Emperor Babur. His territory was thereafter divided between his two sons, forming two separate states. Prithivi Raj remained in Dungarpur while his brother Jagmal Singh became independent ruler of Banswara. Dungarpur was added as a district in India on April 7, 1949.