"Sabal" means strong and "Garh" means fort[6][5][7] The town was founded by a Gurjar King named Sabala [6] [1] ,[5][6][7] known as Raja Sabal Singh[6] living near Chambal river beside Karaoli,[8][9] a petty state in Rajasthan and now a Tehsil where he was quiledar in the court of King of Karauli, having a fort and a pool.

Up to the eighteenth century the Jadaun Rajputs of Karauli ruled this part[8] and still form one of its predominant castes.

After a stubborn struggle, they reduce the strong fort of Sabalgarh[7] to submission and they attacked Bijaipur and it was also captured and placed in charge of Ambaji Ingale.

In 1806, Daulat Rao Sindhia imprisoned Ambaji and demanded Sabalgarh, from him but he refused, though later on he surrendered a few places in the territory to the Raja of Karaoli.

[12] The Marathas, in their campaign through northern India, retook the fort and returned it to the Jadaun Raja of Karauli.

The Chambal River on the north and the nalla at the foothills on the west made the location of the fort more favorable.

The inner fort had palaces, residences for the generals and elite (Nawal Singh Haveli), and other ancillary buildings like stables, kacheri (court), and temples, while the rest of the settlement was between the two fortification walls.