After the collapse of Vijayanagara Empire in 1565 at the battle of Tallikota, Pemmasani Nayaks ruled Gandikota, Yadiki, Gutti and Tadipatri estates for over 100 years from 1565 to 1685.
[citation needed] Pemmasani Nayaks are known to be the feudatory rulers of Gandikota in the sixteenth century, serving under Aravidu dynasty (1542–1652), especially Rama Raya.
[8] The late sixteenth century Telugu text Rayavachakamu mentions Pemmasani Ramalinga Nayudu as a Kamma chief serving Krishnadeva Raya (r. 1509–1529).
Ramalinga had 80,000 soldiers under him and he played a crucial role in the victory of Krishna Deva Raya over the combined armies of Kalaburagi, Golkonda and Ahmednagar.
[12] Thimma Naidu II participated in the expeditions of Krishna Deva Raya and captured Udayagiri, Addanki, Kondapalli, Rajahmundry and Katakam (Cuttack).
Bangaru Thimma Naidu vanquished Bahamanis in a fierce battle at Komali, killed Salakam Timmaraja and restored the throne to Ramaraya.