Maharajakadai Fort boasts a rich and layered history, with evidence suggesting its importance even in prehistoric times. The site is recognized by the Tamil Nadu State Archaeology Department as a prehistoric site, where numerous artifacts and rock paintings have been discovered.
Historically, the region was known as "Arsar Nilai," meaning "King's Market," according to Chola inscriptions. The fort has witnessed the rule of several powerful dynasties. It was initially under the control of the Vijayanagara Kings until their decline, after which it fell into the hands of Jagadevaraya, a prominent Palegar.
Subsequently, it was ruled by the Nawabs of Cuddapah, then by the Maratha warrior Shivaji, who is credited with renaming the place "Maharajakadai." Later, it was captured by Hyder Ali and brought under the Mysore state, and finally, after the death of Tipu Sultan, the British occupied the entire region.
The fort complex also houses a Sri Anjaneyar Temple on the hill and a Lord Muneshwara Swamy temple at its base, which are popular among locals.