[1] The kingdom was founded circa 1208 AD by Warrior King Velugoti Recharla Bhetala Naidu[2] and existed since the time of Kakatiyas during the reign of Kakati Ganapathi Deva Rai.

Yachama Naidu was also the son of Kasturi Ranga, another famous general of Venkatagiri royal family.

He helped Venkata II to capture territory from the Deccan Sultans and also quelled rebellions by Nayaks of Vellore and Madurai.

The princely state later permanent settlement Zamindari estate was located mostly in present-day Nellore district of erstwhile Madras Presidency.

[14] In early 20th century during, Raja Venugopala Krishna Yachendra founded the Veterinary Hospital in Chennai.

In 1920 the Rajas donated Rs50,000 towards setting up of a pavilion at Guindy Race Course and another sum for constructing the main building of Madras Gymkhana at the Island Grounds, Chennai.

[5][9] The land where The Hindu newspaper office in Anna Salai is situated and the Osborne House at Royapettah in Chennai once belonged to the Raja of Venkatagiri,[15] [1] https://books.google.com/books/about/A_family_history_of_Venkatagiri_Rajas.html?id=8wW1AAAAIAAJ