Venkatagiri is a town in Tirupati district of the Indian state of Andhra Pradesh.

Venkatagiri was originally known as Kalimilli until the 17th century and was ruled by Gobburi Polygars under Vijaynagar Empire.

They were defeated by Recherla Venkatadri Naidu, Nayak of Madurantakam and the nephew of Raja of Velugodu, another vassal under Venkatapathi Raya II of Aravidu dynasty of Vijayanagar.

[5] By mid 17th century the Velogothi rulers shifted their capital to Venkatagiri and it lasted as a Zamindari until independence.

APSRTC buses, run by state government provide transport to the nearby and long-distance travel.