The founder of the dynasty was Raja Vijay Pal who came from Mathura and founded the fort of Bayana in 1040.
Raja Timan Pal (r.1093-1159) was an early important ruler of the dynasty, he extended his domain by conquering the territories of modern-day Dang, Alwar, Bharatpur, Dholpur, Gurgaon, Mathura, Agra and Gwalior.
Raja Arjun Pal Dev founded the new capital called "Kalyanpuri" which over time got the current name of Karauli in the year 1348.
The state under the rule of HH Maharaja Sir Ganesh Pal Dev along with the neighbouring states of Alwar, Bharatpur, and Dholpur acceded to the Dominion of India on 4 August 1947 to form Matsya Union.
[2] while being part of Matsya Union Karauli and others later merged with Greater Rajasthan in 1949 and became part of the current state of Rajasthan in the 1950s.Maharaja Madan Pal Dev was made a Grand Commander of the Order of the Star of India.