[1] Ramsingh of the Sesodia clan, the second son of Ram Raja of Udaipur, defeated the local tribal chief in the 13th century and became the ruler of Dharampur State in South Gujarat.

Dharampur is situated on the banks of the Swargavahini River and is surrounded by the Sahyadri or Western Ghats range on the east, west, and south.

After the fall of the Delhi Sultanate in south Gujarat, the State of Dharampur flourished and gained a very significant and powerful position by controlling at least seven strategic forts in the region.

The Dharampur kings had cordial relations with Portuguese traders from the south Gujarat ports and used to receive tax revenue from them.

The City of Dharampur had two major phases of development the first in the late 18th century, when the Rana undertook the construction of Raj Mahal, public buildings, step-wells, and temples.

The second phase was in the late 19th century, when as a part of the Queen Victoria Golden Jubilee celebrations, the Anglo Vernacular School, jail, and hospitals were constructed.

Dharampur today is home to the international headquarters of the Shrimad Rajchandra Mission founded by Pujya Gurudevshri Rakesh Jhaveri.