A medieval fortress there was occupied by the Narwarias of the Chambal valley, who were also the founder and rulers of Gwalior, until it was captured by Rajputs in the 12th century.

[3] On 12 August 1602, Abu'l-Fazl ibn Mubarak, Akbar's courtier who also wrote Akbarnama was assassinated at Narwar while he was returning from the Deccan by Vir Singh Bundela (who later became the ruler of Orchha) between Sarai Vir and Antri (near Narwar) in a plot contrived by Akbar's eldest son Prince Salim (who later became the Emperor Jahangir),[4] because Abu'l Fazl was known to oppose the accession of Prince Salim to the throne.

[7] In 1707, Maharaja Gopal Singh (1707–1730) of the Bhadawar princely state was made the Imperial Governor of Narwar by the 8th Mughal emperor Bahadur Shah I.

[8][9] In January 1859, Man Singh Kachwaha , Raja of Narwar came across Maratha General Tatya Tope who had escaped alone into the jungles of Paron after being defeated by the British.

Tope was betrayed into the hands of the British by his trusted friend, Man Singh, while asleep in his camp in the Paron forest.

He was captured on 7 April 1859 by a detachment of native infantry from British General Richard John Meade's troops led to him by Man Singh and escorted to Shivpuri where he was tried by a military court.