It was founded by the Jodhpur prince Kishan Singh in the year 1611.He was given the land in and around Kishangarh by Mughal Emperor Jahangir owing to his loyal services as well as a close family relationship.

He was admitted into the service of Mughal Emperor Akbar and within a short span of time having shown his military prowess received the district of "Hindaun" (now in Jaipur); and later, the grant of Setholao along with certain other districts and villages by his brother-in-law Jahangir who held him in high regard.

[3] Lieut Col.HH Maharaja Sir Madan Singh ascended the throne in 1900 at the age of sixteen,[4] at a time when the state was reeling from the impact of a devastating drought.

The administration under him and his diwan was widely deemed worthy of approbation; irrigation from tanks and wells was extended and factories for ginning and pressing cotton were started.

[4] A social reform movement for discouraging excessive expenditure on marriages made remarkable impact during his reign.